Notes on Path Pilot 1.8.2 source code

check_operatorsudo  mesaflash  numlockx  shifttest  time-admin-wrapper truetype-tracer

md5sum
c7917534468b02fa609ccabc03dccc12  pathpilot_source-1.8.2.tar.xz
838c36835746e8b3c5a00c9c99c2649b  pathpilot_source.tar

sha1sum
47c9b81c3f588a11c14d24363492e09806a5bf9c  pathpilot_source-1.8.2.tar.xz
e51a14be8a3c8c9952668bde7294b9221cecc200  pathpilot_source.tar

ce9835a Release 2.5.3          (July 23, 2013)
3f5e5a5 2.6.0~pre1 changelog   (April 7, 2014)

$ f () { git rev-list --first-parent $range -- $1 | while read rev; do git log -1 --abbrev-commit --format="%H %aD %s" $rev ; git diff --shortstat --exit-code $rev -- $1 && echo MATCH; echo; done | less; }
$ range=ce9835a..3f5e5a5 f src/hal/drivers/mesa-hostmot2/encoder.c
81876a9c1563246b0e19f7230a3577bdcc6cc227 Mon, 7 Apr 2014 01:35:55 +0200 hm2: muxed encoder: add support for FilterRate and Muxed Skew register.
 1 file changed, 15 insertions(+), 77 deletions(-)

3923028b51b8ca2b4e7e2ae80b0896302e64ac56 Mon, 7 Apr 2014 01:33:00 +0200 hm2: add support for muxed encoder version 4
 1 file changed, 1 insertion(+), 3 deletions(-)

7c112e5b77f0adb6094207645ef31bb49b4d1a1b Sun, 23 Feb 2014 17:57:00 +0100 Merge branch 'master' of ssh://norbert@git.linuxcnc.org/git/linuxcnc.git
MATCH

91efbf5fe8da8e1d5c023c45a94a3303cf29c27f Thu, 15 Aug 2013 21:46:18 +0100 Merge remote branch 'origin/master' into hm2-resolver-fix-for-master
 1 file changed, 24 insertions(+), 5 deletions(-)

diff --git a/src/emc/ini/initool.cc b/src/emc/ini/initool.cc
index 29d8c27..4d5d1e4 100644
--- a/src/emc/ini/initool.cc
+++ b/src/emc/ini/initool.cc
@@ -42,6 +42,20 @@ static int loadTool(IniFile *toolInifile)
     const char *inistring;
 
     if (NULL != (inistring = toolInifile->Find("TOOL_TABLE", "EMCIO"))) {
+        // see if filename starts with '~'
+        if (inistring[0] == '~') {
+            // get user's HOME directory from environment
+            char *home;
+            char full_path[LINELEN];
+            if ((home = getenv("HOME")) != NULL) {
+                // start with the path to the HOME directory
+                strcpy(full_path, home);
+                // skip the '~'
+                strcat(full_path, &inistring[1]);
+                inistring = full_path;
+            }
+        }
+
        if (0 != emcToolSetToolTableFile(inistring)) {
            rcs_print("bad return value from emcToolSetToolTableFile\n");
            retval = -1;

diff --git a/src/emc/motion/command.c b/src/emc/motion/command.c
index ada126d..6307a38 100644
--- a/src/emc/motion/command.c
+++ b/src/emc/motion/command.c
@@ -81,6 +83,52 @@ extern void check_stuff(const char *msg);
 KINEMATICS_FORWARD_FLAGS fflags = 0;
 KINEMATICS_INVERSE_FLAGS iflags = 0;
 
+
+/**
+ * Helper function to execute a single step command.
+ * This sets the appropriate flags so that the trajectory planner runs just the
+ * next segment.
+ */
+STATIC int do_step_cmd(struct state_tag_t const * const tag) {
+
+    if(!emcmotStatus->paused) {
+        reportError(_("MOTION: can't STEP while already executing"));
+        return -1;
+    }
+
+    if (!tag) {
+        reportError(_("MOTION: invalid ID trying to do a STEP"));
+        return -1;
+    }
+
+    emcmotDebug->idForStep = tag->fields[GM_FIELD_STEPPING_ID];
+    rtapi_print_msg(RTAPI_MSG_DBG," idForStep = %d, line = %d\n",
+            emcmotDebug->idForStep,
+            tag->fields[GM_FIELD_LINE_NUMBER]);
+    emcmotDebug->stepping = 1;
+    tpResume(&emcmotDebug->tp);
+    emcmotStatus->paused = 1;
+    return 0;
+}
+
+/**
+ * Check if a move has been added to an empty queue, and trigger a step command
+ * if necessary.
+ * This assumes that single-stepping is done in task, and so receiving a new
+ * motion command on an empty queue while stepping will only happen when a step
+ * command is issued to task.
+ */
+STATIC int do_firstmove_step(struct state_tag_t const * const tag) {
+
+    if(!emcmotStatus->paused || emcmotStatus->depth > 0) {
+        return -1;
+    }
+
+    do_step_cmd(tag);
+    return 0;
+}
+
+
 /* loops through the active joints and checks if any are not homed */
 int checkAllHomed(void) {
     int joint_num;