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[00:30:08] <tom3p> how do i set the name of a thread?
[00:30:14] <tom3p> the new .ini files seems to have default names
[00:30:15] <tom3p> ( the text 'base-thread' and 'servo-thread' do not appear in the .ini files )
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[00:33:42] <andypugh> If you just "loadrt threads" in halcmd then you get "thread1"
[00:34:38] <SWPadnos> man threads will tell you
[00:35:29] <SWPadnos> but for the shortcut, loadrt threads name1=mythreadname period1=20000 fp1=0
[00:35:49] <SWPadnos> makes a thread named mythreadname, period 10 uS (10000 ns), which doesn't use floating point
[00:37:18] <tom3p> ok, but all the supplied inis get the names base-thread and servo-thread without the text appearing in the .ini
[00:37:40] <tom3p> ok, i'll go by the man page, but the note suggested something had changed
[00:37:52] <tom3p> ( shame on me i didnt try first )
[00:39:08] <SWPadnos> motion creates those threads
[00:39:13] <tom3p> can i get halcmd to sets more than 1 signal? my M1xx scripts has 30 sections in case swx style , each sets 6 signals, so each invokes jalcmd 6 times
[00:39:24] <SWPadnos> which is icky, but that's how it is
[00:39:25] <tom3p> SWPadnos, ! yep, i looed in wrong place, thx!
[00:39:47] <SWPadnos> no, you can only set one signal at a time
[00:39:50] <tom3p> halcmd (jalcmd is religious i think )
[00:39:59] <SWPadnos> java halcmd? :)
[00:42:12] <SWPadnos> tom3p, is that m1xx script in bash?
[00:42:29] <tom3p> SWPadnos, may be of interest, the M111 cmd chooses an EDM technology (P) and which power stage in the set (Q)
http://pastebin.com/3s62TgRr
[00:42:35] <tom3p> yep bash
[00:43:10] <SWPadnos> make yourself a function that does all the halcmds, and call it with the 6 parameters within each case
[00:43:19] <andypugh> Ah, SWPadnos Did you see my kins observations on the dev list? I have still not found out where it happens.
[00:43:22] <tom3p> this is really nice becuz the input pins are open fro debugging (manually setting the signals ) else automated by scripts
[00:43:22] <SWPadnos> that should cut the code size quite a bit
[00:43:35] <SWPadnos> andypugh, the small jump when switching modes?
[00:43:43] <tom3p> SWPadnos, very good idea ( 6 at once )
[00:43:47] <SWPadnos> yp
[00:43:48] <SWPadnos> tep
[00:43:50] <SWPadnos> teo
[00:43:52] <SWPadnos> yep
[00:43:53] <SWPadnos> ~
[00:43:55] <SWPadnos> !
[00:44:01] <tom3p> bang
[00:44:02] <SWPadnos> damn. can't even type one character right
[00:44:23] <andypugh> No, the wierd behaviour of KINEMATICS_TYPE_IDENTITY
[00:44:24] <Jymmm> 1
[00:44:31] <SWPadnos> oh. I didn't see that one
[00:44:43] <andypugh> dev list
[00:44:47] <SWPadnos> ok
[00:46:03] <SWPadnos> KINEMATICS_IDENTITY means that there is no difference between G-code axes (XYZABCUVW) and joints
[00:46:29] <SWPadnos> so it's not so surprising that the transforms aren't run, since they shouldn't be needed if there is no difference between world and joint space
[00:47:49] <andypugh> Though I can't see any code which explicitly links them that way, and in teleop mode and coordianted mode the relationships defined by the kins are followed.
[00:48:20] <andypugh> the kins functions are called in all three modes, as far as I can see.
[00:50:47] <SWPadnos> hmm
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[00:53:54] <andypugh> If "IDENTITY" means "identity matrix" then you shouldn't even need a kins at all, trivkins is not trivial enough if that is the case. If it is meant to mean "individual joints are axes" then remapping joints and axes seems reasonable.
[01:05:52] <SWPadnos> well, it looks like my understanding is insufficient
[01:06:13] <SWPadnos> it's pretty clear in control.c that there is still a call in the KINEMATICS_IDENTITY case
[01:09:20] <andypugh> Indeed, and "free" looks much like "teleop" and "coordinated" too.
[01:09:55] <andypugh> err, how can I cast a u32 into a 4-char string to print?
[01:10:02] <SWPadnos> I get the modes confused - I think teleop and free are backwards (for me anyway)
[01:10:09] <SWPadnos> hmmm
[01:11:02] <SWPadnos> you kind of can't do that with casting, at least not easily. a string needs a zero termination, which a u32 isn't likely to provide
[01:11:10] * Jymmm gives SWPadnos Double Dyslexia so he can see straight
[01:11:44] <andypugh> I guess that (buff == '8i20' might work though?
[01:12:01] <SWPadnos> buff is a u32?
[01:12:01] <Jymmm> SWPadnos: Now you'll be right half the time, instead of being wrong half the time.
[01:12:10] <SWPadnos> my cup is half missing
[01:12:27] <Jymmm> SWPadnos: flip it around
[01:12:50] <SWPadnos> argh. it's so expensive to rent an automatic car in the UK
[01:13:20] <andypugh> You can't drive manual?
[01:13:25] <SWPadnos> andypugh, quick question: is it legal to talk on the phone while driving in the UK, or is a handsfree device required?
[01:13:36] <andypugh> You need a handsfree
[01:13:45] <SWPadnos> I can, but I will be tired and on an unusual side of the road, so I figure it's best to be safe
[01:13:55] <andypugh> It is very likely that the car will have bluetooth in the radio.
[01:14:19] <SWPadnos> I'll bring the earbud for my little Nokia 6310(?)
[01:14:44] <Jymmm> SWPadnos: I thought you got an android
[01:14:48] <SWPadnos> and the bluetooth headset for the FreeRunners
[01:14:58] <SWPadnos> Jymmm, US system ~= the rest of the world
[01:15:02] <SWPadnos> the Droid is US only
[01:15:10] <SWPadnos> !=, that is
[01:15:45] <Jymmm> SWPadnos: Oh, CDMA. Mine is GSM and unlocked so I just pop in a sim card.
[01:16:07] <SWPadnos> yeah
[01:16:20] <SWPadnos> I considered getting a Droid 3 some time soon, but I probably won't
[01:16:34] <SWPadnos> I do have 4 phones that should work in the UK, so I'm probably set for now
[01:16:56] <SWPadnos> I just have to get the FreeRunners programmed with Android or something
[01:17:06] <Jymmm> freerunner?
[01:17:06] <tom3p> SWPadnos, if I use motmod (loadrt motmod... ) do i loose the possibility of a 3rd thread? (or loose the exposing of motion.blah by dropping motmod?)
[01:17:15] <SWPadnos> OpenMoko FreeRunner
[01:17:19] <Jymmm> ah
[01:17:54] <SWPadnos> no, you can create another thread, but its period will be a multiple of the shortest period created by motion (the base thread)
[01:18:14] <tom3p> argh i need fast, so looks like i drop motmod
[01:18:15] <tom3p> thx
[01:18:23] <SWPadnos> you can actually create (more or less) as many threads as you want, but you have to can only make 3 at a time, and you have to unload threads each time
[01:19:04] <SWPadnos> you can loadrt threads before loading motmod, if you want. in that case, the base and servo threads will be a multiple of the first one you created
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[01:19:32] <tom3p> sweet thx
[01:19:42] <SWPadnos> sure
[01:20:17] <SWPadnos> the gist is that the first thread created sets the thread "tick" resolution, and all subsequent threads will be some integer multiple of that one
[01:20:26] <SWPadnos> so make the first one the fastest one you want
[01:22:07] <tom3p> well as fast as possible is > 'makes my system lockup' :)
[01:22:30] <SWPadnos> that would be slightly faster than possible then :)
[01:22:52] <tom3p> and you are right, the sequnce worked! loadrt threads.... then loadrt motmod[EMCmuble]
[01:23:19] <tom3p> oh i see, '<'
[01:23:20] <SWPadnos> yep. motmod directly creates the threads, it doesn't load the threads module
[01:23:47] <tom3p> oh,, you got that from reading the src or man?
[01:23:53] <SWPadnos> memory :)
[01:24:06] <tom3p> whats the url for your mem ?
[01:24:18] <tom3p> thx, that really helped
[01:24:20] <SWPadnos> http://www.swpsmind.com/depths/
[01:24:28] <SWPadnos> but there's a password that I often forget
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[01:46:17] <tom3p> SWPadnos, the osc works now thx
http://imagebin.org/165228
[01:46:34] <SWPadnos> cool
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[07:34:31] <CIA-11> EMC: 03cmorley 07v2.5_branch * r8b0803345c08 10/src/emc/usr_intf/pncconf/ (pncconf-help/lathe_diagram.png pncconf.glade pncconf.py): pncconf - add lathe diagram to help page
[07:37:12] <CIA-11> EMC: 03cmorley 07v2.5_branch * rad03d2c255da 10/src/emc/usr_intf/pncconf/pncconf-help/ (help-advanced.txt help-basic.txt help-gui.txt): pncconf -upgrade help files
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[12:27:57] <jepler> As I was trying to fall asleep last night, I wondered: what (if anything) makes it OK to use FP math during setup of a realtime component
[12:28:12] <jepler> in a RT thread that's marked for floating-point, it's OK because rtai does something to preserve FP registers
[12:28:29] <jepler> but I don't think anything of that nature is done for setup/cleanup functions
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[12:48:58] <psha[work]> jepler: sure, if you don't want to mix setup/cleanup with normal processing (e.g load something at 1khz rate)
[12:55:38] <jepler> I'm not sure I understand what you're saying
[12:56:19] <jepler> in the rtapi_app_main of a realtime component, nothing ensures the FP registers are saved at the start and restored at the end
[12:56:20] <psha[work]> in distilled form 'i think you are right' :)
[12:58:04] <SWPadnos> isn't rtapi_app_main actually the module_load function that the kernel calls?
[12:58:14] <jepler> SWPadnos: yes, that's right
[12:59:07] <SWPadnos> I wonder if modules like sensors or some of the battery monitoring drivers use FP in the kernel
[12:59:27] <SWPadnos> if there's anything that does, then it's got to be safe (in theory anyway)
[13:00:07] <jepler> iirc, using fp in the kernel was always a no-no
[13:00:30] <SWPadnos> I also remember that, from the 2.2 and maye 2.4 days. I don't know if it's still true
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[13:05:49] <psha[work]> jepler: in hwmon only comments like 'since we cannot do floating point in the kernel.' match 'float' :)
[13:06:35] <psha[work]> however in via686a.c there is some double multiplication
[13:06:47] <psha[work]> ah, sorry
[13:06:48] <psha[work]> in comments
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[14:15:57] <jepler> the x86 kernel does do some FP math at startup -- it verifies whether CPU has the FDIV bug :-P
[14:18:10] <jepler> aha, there are kernel_fpu_begin() / kernel_fpu_end()
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[15:10:13] <cncbasher> anyone using pncconf ? line 5772 erro 32 broken pipe
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[15:42:39] <jepler> first attempt at using kernel_fpu_begin()/_end() hard locked my (virtual) machine. oops!
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[16:03:27] <JT-Shop> this is interesting discussion on kernel_fpu_begin() function
http://www.linuxquestions.org/questions/programming-9/how-to-use-kernel_fpu_begin-function-374204/
[16:04:29] <jepler> thanks
[16:09:57] <Jymmm> jepler: Have you ever played with easygui?
[16:10:26] <jepler> Jymmm: doesn't ring a bell
[16:10:53] <Jymmm> jepler: Ah, ok.
http://easygui.sourceforge.net/
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[16:43:31] <jepler> hm, actually, it looks like for whatever reason, runtests inside the virtual machine is crashy :-/ even without my local changes
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