linuxcnc trajectory planner

it seens to be working now

gcode loaded items: 14
gcode ready to be processed in thread.
set your gui maxvel to zero. Then the machine won't move when saving the gcode.
init curves done.
trim curves done.
added inbetween segments:10
Gcode file ready, filename:../../../cmake/validate_1142171910.ngc
thread completed.

Hi,

Thanks TiaUnderGround for testing the script.
Glad that is run's.

I hope Arciera's install will also run now.

In the cmake dir, i changed the tinyspline source code to be libtinyspline.
It now compiles to libtinyspline.so and is installed in ~/rtlib
motmod.so uses libtinyspline to create fillets. This is temponairy.

Next will create libfilletizer wich then can be used by the trajectory planner "tpmod.so".

Then the edited motion component "motmod.so" wich we used for displaying the filletizer algoritme can be
left in the project as is. This edited component can be used to verify filletizer outputs when source code
has changed.

We can load the original "motmod.so" once again and can now focus
on the trajectory planner "tpmod.so" code.

We have soon the ingredients complete.

he Grotius ... sorry for stupid question ... not read all post of these thread .... but is possible to install these project or only rip-install? can damage somethings if try on little scara your code? custom kins is the same as 2.10?

regards

Hi Bkt,

You can install it "rip" only, but you can not run the new trajectory planner. It's still being coded.

custom kins is the same as 2.10?
I don't know wich kins versions are in. Its a recent linuxcnc git clone.

Still doesn't work without copying 'liblinuxcnchal.so.0' to 'root/lib':

Just reinstalled the OS (LMDE 6) and while my regular linuxcnc rip install works I still have to copy copying 'liblinuxcnchal.so.0' to 'root/lib' to get it to start from your repo.

Hi Arciera,

Thanks for trying this out.
Maybe i have an idea.

I can check the regular make process --verbose output.
Remove one lib from the rtlib that uses liblinuxcnchal.
Then invoke a make --verbose command and check the output.
In this output we can see compile flags. Then maybe we miss a compile flag.

If we miss a compile flag, we add it to the edited motmod.so or tpmod.so (cmake projects)

Let you know soon!

Hi Arciera,

For test, i removed homemod.so from the rtlib and did :
~/linuxcnc_trajectory_planner/src$ make BUILD_VERBOSE=1

Output of this:
Reading 203/203 dependency files
Done reading dependencies
Reading 266/266 realtime dependency files
Done reading realtime dependencies
Linking ../rtlib/homemod.so
ld -d -r -o objects/homemod.tmp objects/rtemc/motion/homemod.o objects/rtemc/motion/homing.o
objcopy -j .rtapi_export -O binary objects/homemod.tmp objects/homemod.sym
(echo '{ global : '; tr -s '\0' < objects/homemod.sym | xargs -r0 printf '%s;\n' | grep .; echo 'local : * ; };') > objects/homemod.ver
gcc -shared -Bsymbolic -Wl,--version-script,objects/homemod.ver -o ../rtlib/homemod.so objects/rtemc/motion/homemod.o objects/rtemc/motion/homing.o -lm -L/home/user/linuxcnc_trajectory_planner/lib -Wl,-rpath,/home/user/linuxcnc_trajectory_planner/lib -ltirpc  -lgpiod
chmod -x ../rtlib/homemod.so
You now need to run 'sudo make setuid' in order to run in place with access to hardware.
is a prefix used to pass options directly to the linker. sets the runtime library search path for the executable

Now these are added here and here we have to use as this is the cmakelists.txt current directory.
Relative from here the filepath is compiled with it.

I hope this solves the problem.

Unfortunately it doesn't seem to solve the issue:

But maybe we shouldn't worry about this too much at present as it can be fixed by copying 'liblinuxcnchal.so.0' to 'root/lib'

Hi Arciera,

Had the same error's as you had, can not find liblinuxcnchal.so.0
But before that, i had symbol errors. Can not find tp....

Now after a few moments... it works here.
It looks to me like building liblinuxcnchal, motmod and tpmod must have a build order to properly be linked.
Therefore liblinuxcnc hal is now also build by the cmake system, to avoid errors.

Belos is a new clone from the linuxcnc repository. History can be seen now. And we can synchronize so now and then.
Then added the cmake dir and scripts to it. It seems to work now.

linuxcnc

It builds the original motmod, as we now can focus on the tpmod.