Hi,
the two passes was working on a simple etherCAT config, but as I have advanced in my project and trying again the Twopasses, as I want to use names instead of counts, it no longer works:
I am currently having in my ini file, with lamgui my glade and python files for the machine I want to work on:
[DISPLAY]
DISPLAY = lamgui
[HAL]
TWOPASS = on
#Use loadusr -W if TWOPASS activated
HALUI = halui
HALFILE = loadrt_lcec_threads.hal
HALFILE = loadrt_addf_setp.hal
HALFILE = lam-v1.hal
POSTGUI_HALFILE = postgui.hal
Only the loadrt_lcec_threads.hal and loadrt_addf_setp.hal
I have therefore several specific things used with TWOPASS:
- the custom made display loaded which contains a h = hal.component("passthrough") hal component with plenty of pins define din the python file
- the halui, which I am not sure how it reacts compared to the TWOPASS and the POSTGUI_HALFILE.
- the POSTGUI_HALFILE for hich I have set up # NOTWOPASS to see if it was making a difference or not
- I am using the message hal component in my loadrt_addf_setp.hal
Here is the resulting cmd line: apparently linuxcnc gets shut down but I am unable to kill the process.
When I do:
Code:
LINUXCNC - 2.9.0~pre0
Machine configuration directory is '/home/machine/linuxcnc/configs/sim.axis'
Machine configuration file is 'axis.ini'
LinuxCNC is still running. Restart it? [Y/n] Y
Cleaning up old LinuxCNC...
Shutting down and cleaning up LinuxCNC...
Waiting for other session to finish exiting...lockfile still not removed
It stays like that forever
I have removed the get from my comment which apparently was creating an error when used in a comment with TWOPASS. I still got the same kind of results being locked without being able not to do anything on the terminal.
I enventually made it work as in my loadrt_lcec_threads.hal I had:
Code:
loadrt [KINS]KINEMATICS #To be used linux 2.8.x
loadrt motmod base_period_nsec=[EMCMOT]BASE_PERIOD base_thread_fp=0 servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]JOINTS num_dio=20 num_aio=20
TO make the TWOPASS work I need:
Code:
loadrt trivkins coordinates=XY kinstype=BOTH #To be used linux 2.8.x
loadrt motmod base_period_nsec=100000 base_thread_fp=0 servo_period_nsec=100000 num_joints=2 num_dio=20 num_aio=20
Apparently when using TWOPASS the hal parsing loose the ability to read some variables from the ini file: here it was [KINS]KINEMATICS [EMCMOT]BASE_PERIOD. This is a bit strange as I have # NOTWOPASS in the file containing those lines.
