#emc-devel | Logs for 2009-08-17

[01:27:42] <dgarr> jepler: thanks for the commit and the git instruction
[01:28:09] <dgarr> jepler: here is a patch for hal_input parameters-to-pins that was submitted a while back but never incorporated: http://filebin.ca/nvbxd
[02:17:23] <jepler> dgarr: thanks, committed
[02:17:30] <CIA-41> EMC: 03jepler 07master * r4f9616d33bfa 10/src/hal/user_comps/hal_input.py: parameters to pins
[02:17:31] <CIA-41> EMC: 03jepler 07v2_3_branch * r3e7c5ea75690 10/ (debian/changelog nc_files/M101 src/hal/drivers/serport.comp): Use a proper message level
[06:54:51] <micges_work> good morning
[07:04:42] <alex_joni> hello
[07:09:50] <micges_work> alex_joni: nice stuff you applied yesterday
[07:11:01] <micges_work> I've readed about jacobian for kins, It seems that they must be checked before each move?
[07:15:20] <alex_joni> micges_work: not really clear to me yet ;)
[07:16:03] <micges_work> oh ok ;)
[08:01:42] <micges_work> alex_joni: re ja3: in theory for lathe should be used identity kins? or both kins( gantry) ?
[09:08:50] <alex_joni> good question
[09:08:59] <alex_joni> I would think that it's joints: 0,1
[09:09:02] <alex_joni> axes: X, Z
[09:09:08] <alex_joni> so gantry, or generic kins
[09:09:58] <alex_joni> you can even use genserkins :D
[09:10:46] <micges_work> hehe
[10:34:18] <alex_joni> hmm.. I wanted to make a "simple" change to vismach
[10:34:22] <alex_joni> but I'm a bit lost ;)
[10:36:07] <alex_joni> I see self.plotdata in redraw(), and I wanted to make it only visible based on a HAL pin (maybe connect it to spindle enable)
[10:58:17] <micges_work> alex_joni: I think on sf there is 2.3.2 packages only
[10:58:35] <micges_work> but maybe 2.3.4 will be soon so no bother
[11:55:21] <jepler> no, I'm not in a particular hurry to do 2.3.4.
[11:57:29] <micges_work> ok
[12:01:11] <alex_joni> I'll put 2.3.4 up
[12:01:15] <alex_joni> jepler: hi
[12:01:24] <SWPadnos> OR 2.3.3
[12:01:30] <alex_joni> err.. whatever
[12:01:34] <SWPadnos> heh
[12:01:44] <alex_joni> * alex_joni still waits for SWPadnos's coffee to arrive
[12:02:00] <SWPadnos> first few sips are already being processed
[12:02:35] <alex_joni> not over here :P
[12:03:19] <SWPadnos> you should be about through with them already :)
[12:04:20] <alex_joni> well.. since I don't drink any coffee.. maybe not :P
[12:04:26] <SWPadnos> oh
[12:04:31] <SWPadnos> how about tea then?
[12:04:52] <alex_joni> sometimes
[12:06:13] <skunkworks_> carbonated beverage?
[12:06:40] <alex_joni> seldom
[12:06:51] <skunkworks_> cafinated water?
[12:06:58] <skunkworks_> ;)
[12:07:12] <alex_joni> hey skunkworks_
[12:07:56] <alex_joni> skunkworks_: http://imagebin.ca/view/uBcDPgls.html
[13:06:44] <cradek_> cradek_ is now known as cradek
[13:07:27] <cradek> jepler: about http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl/emcinfo.pl?action=browse&diff=1&id=Hardware_Requirements
[13:07:54] <cradek> after I did this, installing emc2-dev put it back.
[13:08:13] <cradek> I think I know the fix, checking...
[13:09:07] <cradek> libglu1-mesa-dev,libgl1-mesa-dev
[13:09:25] <cradek> one or both of these should have |...
[13:27:17] <skunkworks> cradek: did the spindle keep working?
[13:35:30] <cradek> nope
[13:35:49] <cradek> and, the X amp died too, now
[13:35:52] <cradek> what a swirl
[13:36:22] <skunkworks> yeck
[13:36:47] <jepler> cradek: probably libgl1-mesa-dev|libgl1-mesa-swx11-dev ?
[13:37:05] <cradek> yep I agree
[13:37:21] <cradek> libglu1-mesa-dev isn't affected, I think
[13:38:18] <cradek> (I now agree with jmk that git diff giving a pager by default is a bug)
[13:39:12] <jepler> I very much disagree
[13:39:27] <jepler> git config --global core.pager cat
[13:40:35] <CIA-41> EMC: 03cradek 07master * r53a3f389f5dd 10/debian/control.in: Don't screw up a system that was installed with forced software rendering
[13:41:40] <jepler> cradek: hm, installing emc2-dev did? or do you mean build-dep emc2?
[13:45:16] <cradek> build-dep
[13:45:32] <cradek> oops, I typed the wrong thing earlier
[13:45:35] <cradek> it was build-dep emc2
[13:45:55] <cradek> it didn't even ask for confirmation!
[13:46:19] <cradek> that was what really surprised me
[14:59:28] <alex_joni> jepler: any idea how I could change vismach so that the tooltip doesn't always draw?
[15:40:18] <jepler> alex_joni: I'm not really as familiar with that code as you'd like
[15:40:23] <jepler> anyway, here's where a point is added to the plot:
[15:40:23] <jepler> 835 if not self.plotdata or point != self.plotdata[-1]:
[15:40:23] <jepler> 836 self.plotdata.append(point)
[15:40:32] <jepler> and here's where it's drawn:
[15:40:32] <jepler> 877 for p in self.plotdata:
[15:40:32] <jepler> 878 glVertex3f(*p)
[15:41:32] <jepler> there's not really a provision for getting the hal object into that function O.redraw ..
[17:16:26] <alex_joni> that's what I was thinking too..
[18:14:51] <jepler> I noticed how hard that diff to control.in was to read. Anyone want to weigh in on reformatting control.in? http://emergent.unpy.net/files/sandbox/reformat-depends.patch (no semantic change intended)
[18:15:39] <cradek> does it still work?
[18:16:19] <micges> hi cradek
[18:16:25] <jepler> I dunno :P
[18:16:38] <cradek> ha, then I'm against it
[18:16:46] <cradek> hi
[18:16:47] <jepler> actually I wonder how it works now; I added python-tkinter as a build-time dependency, but the right package name seems to be python-tk
[18:17:18] <jepler> the format is accepted by dpkg-checkbuilddeps but I didn't actually build a full package
[18:18:13] <alex_joni> micges: uploaded 2.3.3 to sourceforge
[18:18:15] <micges> cradek: did you have a lathe?
[18:18:17] <alex_joni> thanks for noticing
[18:18:32] <micges> alex_joni: cool, no problem
[18:19:11] <cradek> micges: I have a few lathes, one is running emc
[18:19:20] <cradek> er, two
[18:19:44] <micges> cradek: it is simple XZ config ?
[18:19:49] <cradek> yes
[18:21:22] <micges> cradek: I wonder how to config lathe in a la3 branch, identity kins or both kins, what do you think ?
[18:21:35] <micges> s/la3/ja3/
[18:21:35] <cradek> what is both kins?
[18:21:48] <micges> like gantrykins
[18:21:54] <jepler> KINEMATICS_BOTH
[18:22:03] <cradek> oh ok
[18:22:23] <jepler> if KINEMATICS_BOTH will still force the user to be aware of joints (stuff like 'home in joint mode then change to world mode') then no
[18:22:37] <cradek> I agree with that
[18:22:59] <cradek> also, a program with "Y" in it should continue to error like it does now
[18:23:19] <alex_joni> Y and joints aren't that related
[18:23:25] <cradek> (although there's a bug in that: g17g3i1)
[18:23:48] <alex_joni> how about separate lathekins?
[18:23:54] <alex_joni> would that be too intrusive?
[18:23:56] <micges> cradek: what sf number?
[18:24:01] <alex_joni> something that maps XZ to 01
[18:24:02] <cradek> what's the goal here?
[18:24:13] <alex_joni> cradek: skip X_Z defines
[18:24:16] <cradek> since lathes currently work fine
[18:24:24] <cradek> alex_joni: I don't understand what that means
[18:24:51] <alex_joni> jas
[18:25:04] <cradek> micges: no sf bug. I mean the assumption that programs without "Y" in them can't move "Y" is wrong
[18:25:38] <cradek> I don't know whether that's important, nor do I know whether it's related to the question at hand
[18:26:27] <alex_joni> it's probably not ..
[18:27:01] <alex_joni> cradek: micges was wondering, and me too, how a "proper" lathe config should look like after the joint/axes cleanup
[18:27:29] <cradek> not sure I know how to tell whether a config is "proper"
[18:27:43] <alex_joni> follows the design rules
[18:27:55] <cradek> where can I read them?
[18:28:06] <alex_joni> good question
[18:28:19] <alex_joni> well.. the idea is to have joints (numbered 0,1,2, ...)
[18:28:20] <cradek> I'm not being difficult - I just haven't kept up with the goals here, so I hesitate to give answers
[18:28:29] <alex_joni> and axes (that follow the carthesian coordinates)
[18:28:36] <alex_joni> for a lathe it would be joints: 0,1
[18:28:40] <alex_joni> and axes: X,Z
[18:28:52] <alex_joni> the current trivkins mapping doesn't follow that
[18:28:54] <cradek> ok if you want joints consecutive, you want a KINEMATICS_IDENTITY with x=0 z=2
[18:29:01] <alex_joni> exactly
[18:29:11] <jepler> z=1?
[18:29:23] <cradek> yeah z=1, like I meant to say
[18:29:31] <cradek> (ack)
[18:29:58] <alex_joni> that's why I was wondering if having a lathekins is too much trouble
[18:30:09] <cradek> sounds simple to me
[18:30:33] <alex_joni> or rather having smthg like gantrykins with runtime definition of mappings
[18:32:24] <micges> so lathekins with KINEMATICS_IDENTITY and x=0 and z = 1?
[18:32:39] <jepler> make it possible for trivkins to see the used axis numbers so that it can do the right thing for any "missing axis letters" trivkins machines
[18:35:25] <alex_joni> yup, probably gantrykins is the closes
[18:35:39] <alex_joni> closest to how it should look/work
[18:36:29] <micges> alex_joni: but it is KINEMATICS_BOTH, Axis will have joints/axes
[18:46:28] <alex_joni> then it should be KINEMATICS_IDENTITY ;)
[18:48:25] <micges> alex_joni: ok
[18:49:28] <alex_joni> well.. not necessarely gantrykins.. but we should have a gentrivkins with KINEMATICS_IDENTITY, where we can assign joints/axes at runtime
[18:49:44] <alex_joni> have the motors defined in the ini as joint 0,1
[18:50:10] <alex_joni> and maybe have [TRAJ] KINEMATICS = gentrivkins
[18:50:21] <alex_joni> then [JOINT_0] AXIS = X
[18:50:25] <alex_joni> or something like that
[18:51:03] <micges> nice idea
[18:52:53] <alex_joni> maybe AXIS = 0, so it's easier for module parameter parsing
[18:53:49] <micges> I get the idea
[18:56:04] <alex_joni> great :D
[18:56:09] <alex_joni> then it's just a SMOP
[19:00:16] <jepler> if gentrivkins knows what axes are defined, it should be able to choose a default sane mapping. [TRAJ]AXES=XZ
[19:02:27] <SWPadnos> [TRAJ]AXES=XZA / JOINTS=021
[19:02:37] <SWPadnos> maps X=0, Z=2, A=1
[19:02:39] <micges> default will be XYZ=>012.. overrided by [TRAJ] AXES settings
[19:02:45] <cradek> true - there's only one right answer
[19:03:16] <cradek> I think there's even an intercal operator for this (select some bits according to a mask and then squish them together)
[19:03:39] <jepler> not helpful
[19:04:03] <micges> if [TRAJ] will be XZ then it will have X=> 0, Y => NULL, Z => 1
[19:04:20] <cradek> yes it's SELECT (~)
[19:04:32] <cradek> micges: yes
[19:04:48] <cradek> why not have them go in the order we all know and love (XYZABCUVW)
[19:06:57] <alex_joni> cradek: having both definable has an advantage
[19:07:06] <alex_joni> you can set up things like XYYZZABC
[19:07:21] <alex_joni> or whatever gantry combinations there are out there
[19:07:37] <alex_joni> it's an n-to-m mapping
[19:07:47] <SWPadnos> well, yes and no
[19:07:50] <alex_joni> n-axes, m-joints with m>=n
[19:08:37] <SWPadnos> trouble is, the following error code, and who knows what else, requires joint knowledge outside of HAL
[19:08:45] <cradek> that would be what a lot of people want, assuming we can include solving the homing problems
[19:09:17] <cradek> I thought ferror is a joint problem and is entirely inside hal
[19:09:31] <cradek> err, inside motion, that part of which is in joint space
[19:09:38] <SWPadnos> aren't the offsets (from "machine home") maintained by task/motion/whatever
[19:09:40] <SWPadnos> ok
[19:09:49] <alex_joni> still in joint space
[19:10:40] <alex_joni> if jmkasunich shows up later, can one of you ask him to take a quick peak at the change I did the other day?
[19:11:01] <alex_joni> I'm confident it's fine .. but having him looking over it can't hurt
[19:11:11] <jepler> which one?
[19:11:51] <alex_joni> http://git.linuxcnc.org/gitweb?p=emc2.git;a=commitdiff;h=b0e344c2607e53601e3b1e1a073319a3cdbf3037
[19:12:28] <jepler> alex_joni:
[19:12:28] <jepler> Author: Alex Joni <juve@juve-desktop.(none)>
[19:12:28] <jepler> Date: Sat Aug 15 02:11:47 2009 +0300
[19:12:30] <alex_joni> the commitdiff is not that usefull to read
[19:12:32] <jepler> looks like some more of these got in
[19:13:00] <alex_joni> yeah, I noticed afterwards my git email wasn't set up on that VM
[19:13:21] <jepler> it's too bad git doesn't issue an obvious complaint in that case, instead of just committing
[19:17:34] <jepler> what code between the new location of 'copy joint positions' and the old location uses positions[]?
[19:17:50] <jepler> the next use seems to be on line 1188 which was already after the copy
[19:19:48] <alex_joni> I don't think there is any code that should be affected
[19:20:04] <alex_joni> the only change is that now positions[] is updated even if we enter the other branch
[19:21:01] <jepler> you mean for the kinematicsInverse call at line 1238?
[19:23:53] <alex_joni> jas, opening the file now
[19:24:25] <alex_joni> right
[20:18:03] <skunkworks> cradek: what are you doing browsing cnczone? ;)
[20:18:55] <alex_joni> heh
[20:18:58] <alex_joni> hey samco
[20:19:06] <skunkworks> Hi alex
[20:23:00] <cradek> I wanted badly enough to contact someone there that I figured out my password
[20:23:33] <cradek> and then how could I resist answering a question with a link to documentation?
[20:23:44] <skunkworks> :)
[20:26:51] <cradek> Discuss Enhanced Machine Controlers here!
[20:26:53] <cradek> arrgh
[20:27:11] <cradek> surely it's spelled "Controler's"
[20:32:22] <alex_joni> Results 1 - 10 of about 356,000 for controler's.
[20:33:54] <alex_joni> good night all
[20:35:22] <cradek> goodnight
[21:16:37] <BJT-Work> * BJT-Work heads out to put the tower together :)
[21:16:51] <CIA-41> EMC: 03jepler 07master * r6b0de89db0b8 10/debian/control.in: there is no package python-tkinter
[21:17:18] <CIA-41> EMC: 03jepler 07master * r9db018cd3f66 10/debian/rules.in: make sure configure exists since it is used to clean
[21:17:24] <CIA-41> EMC: 03jepler 07master * r7b5358ac7905 10/debian/control.in: wrap very long lines to make small changes more obvious
[22:49:28] <dgarr> jepler: a small fix is required for the hal_input.py: http://filebin.ca/xyjjcw (sorry)
[23:27:53] <CIA-41> EMC: 03jepler 07master * rf0aebeba25df 10/src/hal/user_comps/hal_input.py: after converting params to pins, must allow pins to be set with setitem
[23:31:32] <dgarr> thanks jeff!
[23:58:49] <jepler> dgarr: keep 'em coming