#emc-devel | Logs for 2011-09-20

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[20:12:22] <awallin_> is there documentation on the format for canon-command ARC_FEED() ?
[20:12:41] <awallin_> I'm looking at some code which processes the output of the "rs274" binary
[20:15:42] <cradek> no documentation, but see ARC_FEED() in emccanon.cc to decipher it
[20:16:31] <awallin_> this is code by mpictor which is correct I think, just wanted to understand it..
[20:16:49] <awallin_> "copied from saicannon.cc, line 509+" whatever that means..
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[20:34:29] <cradek> actually there is (old, probably out of date) documenation in the ngc pdf
[20:35:06] <cradek> google canon interface rs274ngc, hit 5 (when did google break the urls of hits?)
[20:36:14] <awallin_> "version 3" ?
[20:36:24] <cradek> yes I think that was the last nist version
[20:37:21] <cradek> we now have u,v,w,vel,maxvel,acc,...? added to that call
[20:41:16] <cradek> I don't think we have that feed reference mode stuff
[20:41:52] <awallin_> I'm looking at the output to stdout of the rs274 binary, that looks similar to the spec
[20:42:08] <cradek> ah, that's probably as out of date as the docs!
[20:42:29] <awallin_> I'm not sure if that is a good way of using the emc2 interpreter... :)
[20:43:37] <cradek> also we have line number in the canon calls now
[20:44:04] <cradek> sai is grossly out of date: see saicanon.cc:ARC_FEED() and how it ignores some parameters
[20:44:18] <awallin_> do you know if anyone has compiled the interpreter as a standalone shared lib or binary?
[20:44:39] <cradek> that's what rs274 is, pretty much
[20:45:31] <awallin_> hmm, where would I look for the makefile for rs274..
[20:45:43] <cradek> src/emc/sai
[20:46:10] <cradek> there's also already a librs274.so if you want to make your own "driver" for it
[20:46:32] <awallin_> yes, is there a c++ header to go with that?
[20:47:07] <cradek> see sai/driver.cc, sai/saicanon.cc
[20:47:29] <cradek> it's probably most of what you want already, but out of date
[20:47:40] <awallin_> I'm guessing I need some headers too, not only librs274.so ?
[20:48:09] <cradek> the "problem" with updating sai is it breaks all the tests, and that makes it a pain whenever you touch it
[20:49:45] <awallin_> ok, mpictors c++ code looks like sai/driver.cc starts the "rs274" binary as a separate process, and reads/parses the output
[20:51:35] <awallin_> is that how emc2/AXIS also uses rs274 ?
[20:52:03] <awallin_> i.e. through stdout and stdin using the separately compiled rs274 executable?
[20:52:12] <cradek> no, I'm sure it just links with the library
[20:52:33] <cradek> that scheme seems very silly to me
[20:52:40] <awallin_> yah :)
[20:52:58] <cradek> I have to run, hope you figure out what you need.
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[21:16:34] <mhaberler> awallin: what are you trying to achieve? I worked a bit on the interpreter
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[21:26:40] <awallin_> hi mhaberler. I want to drive my cutting-simulation with g-code.
[21:27:10] <awallin_> for linear moves it is trivial to get interpolated points along a move, i.e. p1 + t*(p2-p1)
[21:27:16] <mhaberler> so your input is gcode and output is graphics?
[21:27:22] <awallin_> where t is in [0,1]
[21:27:40] <awallin_> yes it's a graphical representaion, in an opengl viewport
[21:28:06] <awallin_> but for arcs, even though I get the canon-line, it's not clearly obvious for me how to get points along the arc-move
[21:28:16] <mhaberler> I suggest you look into the preview code in emc, I've started excising it from axis here:
[21:28:18] <awallin_> I think I can get the startPose and endPose easily..
[21:28:41] <mhaberler> http://git.mah.priv.at/gitweb/rs274-python.git
[21:28:42] <andypugh> Won't the Gremlin widget do that?
[21:28:48] <mhaberler> yes, that too
[21:28:57] <mhaberler> you feed it a file, and thats it
[21:29:02] <awallin_> gremlin?
[21:29:02] <mhaberler> even simpler
[21:30:00] <andypugh> awallin_: http://wiki.linuxcnc.org/emcinfo.pl?HalWidgets
[21:30:04] <mhaberler> there's a gremlin example in the gladevcp docs,
[21:30:16] <mhaberler> no forget that, use the docs from v2.5_branch
[21:31:03] <mhaberler> actually I'm still working with psha on a 'canned appliance demo' using the gremlin widget and just gladevcp but no Axis
[21:31:44] <mhaberler> it's the gaxis stuff in http://git.mah.priv.at/gitweb/emc2-dev.git/shortlog/refs/heads/gladevcp-jog and:
[21:32:38] <awallin_> ok so this file will give me a list of canon-lines, just like the rs274 http://git.mah.priv.at/gitweb/rs274-python.git/blob/HEAD:/src/rs274demo.py
[21:32:53] <mhaberler> yes, pretty much
[21:32:57] <awallin_> how do I get from the canon-lines to e.g. OpenGL lines? especially for arcs?
[21:33:10] <mhaberler> use gremlin
[21:33:40] <mhaberler> it's all ready there
[21:34:12] <awallin_> where is gremlin hosted? your git repo?
[21:34:26] <mhaberler> its right in the emc2 distro
[21:34:39] <mhaberler> lib/python/somewhere
[21:35:25] <mhaberler> darn..
[21:35:28] <mhaberler> looking..
[21:35:37] <awallin_> hal_gremlin.py ?
[21:35:53] <mhaberler> that is the gladevcp widget around it
[21:35:56] <awallin_> is there then duplicate code that does the same thing in AXIS
[21:35:57] <mhaberler> psha work
[21:36:10] <mhaberler> ?
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[21:36:42] <awallin_> I mean does gremlin and AXIS use the same code for going form canon-lines to opengl primitives?
[21:37:06] <mhaberler> the gcodemodule.cc file executes the gcode file calling the interp, and calls back into python for preview
[21:37:28] <mhaberler> look at src/emc/rs274ngc/gcodemodule.cc
[21:38:56] <awallin_> there's a bit of indirection here... :) that calls ARC_FEED()
[21:39:03] <mhaberler> and rs274.glcanon
[21:39:36] <mhaberler> I dont quite get the flow just yet
[21:40:44] <mhaberler> there, yes
[21:41:51] <mhaberler> lost like me ;-?
[21:41:55] <awallin_> ?
[21:42:19] <mhaberler> well it's very clever but a tad hard to follow the flow
[21:43:21] <awallin_> basically the canon-line for an arc has: plane, start-point, end-point, center, feed along the rotatio-axis, and a cw/ccw flag. That is probably enough to come up with the math myself... but if it's somewhere easily available..
[21:43:55] <mhaberler> are you looking for where that is actually rehashed into machine movements?
[21:44:20] <mhaberler> that probably is in motion. let me look..
[21:44:47] <awallin_> for the simulation I want points (x,y,z) along the arc. with some tolerance parameter how closely the points follow eachother
[21:45:33] <mhaberler> or emccanon which drives it
[21:46:11] <awallin_> or posemath
[21:46:48] <awallin_> feels like a seriously convoluted codebase...
[21:47:54] <mhaberler> you're welcome! no, emccanon outputs circularMoves, and puts them on the interplist, so they are not interpolated there
[21:49:43] <andypugh> maybe in emc/kinematics/tp.c -> tpAddCircle?
[21:50:25] <andypugh> No, that seems to be whole ones :-)
[21:51:00] <mhaberler> no, task takes the circmove nml msg and passes it to motion as EMCMOT_SET_CIRCLE, see emc/taskintf.cc emcTrajCircularMove
[21:52:05] <andypugh> There is some likely looking code in tc.c / tcGetPosReal
[21:52:07] <mhaberler> so looking in motion for EMCMOT_SET_CIRCLE.. that calls tpAddCircle
[21:52:28] <mhaberler> this is already RT land
[21:52:48] <mhaberler> yes, there it goes through kins
[21:53:10] <awallin_> yes, tpAddCircle is probably pretty close. there are atleast four posemath-calls from tpAddCircle..
[21:54:05] <awallin_> so are you running the whole g-code program through the whole emc2-chain, with some arbitrary tp-cycle (like 1ms), and then you plot in OpenGL the points that trajectory control gives out?
[21:54:18] <mhaberler> yes
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[21:54:38] <mhaberler> well. whole emc chain…
[21:55:11] <mhaberler> interpreter->canon->NML->task->motion->kins ->onto hw for the machine
[21:55:38] <awallin_> ok so you stop after motion..
[21:55:43] <mhaberler> interp->glcanon->somehow graphics are output
[21:56:11] <mhaberler> I definitely stop after motion ;-) no I'm working mostly on interp control flow stuff
[21:56:38] <mhaberler> multiple layers above this
[21:58:59] <awallin_> where is the "gcode" python module. that looks like it has something
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[22:01:18] <awallin_> this looks like it: PyObject *rs274_arc_to_segments(PyObject *self, PyObject *args)
[22:01:41] <mhaberler> src/emc/rs274ngc/gcodemodule.cc
[22:01:42] <awallin_> in rs274ngc/gcodemodule.cc
[22:02:11] <mhaberler> no that IS the python 'gcode' module - a C extension
[22:02:35] <mhaberler> it has the interpreter linked to it, and calls back into python for canon
[22:02:56] <mhaberler> (very few canon calls - actually just those needed for preview)
[22:03:37] <awallin_> I'll have to study the arc_to_segments() to see if I can copy/paste it into my code..
[22:03:52] <mhaberler> that's likely it
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[23:11:02] <CIA-83> EMC: 03andypugh 07v2.5_branch * r900c2f98d28b 10/src/hal/drivers/mesa-hostmot2/ (mesa_7i64.c sserial.c): Squash a Smart Serial startup bug caused by writing an uninitialised
[23:11:02] <CIA-83> EMC: 03andypugh 07v2.5_branch * re15789665771 10/src/hal/drivers/mesa-hostmot2/ (mesa_7i64.c sserial.c): Merge commit '900c2f98d28ba5066877412fd20db159aa7eb487' into v2.5_branch
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[23:13:37] <andypugh> Darn it! I keep doing that. Do I need to rebase before push>
[23:13:54] <JT-Shop> I do git pull --rebase
[23:13:59] <JT-Shop> git push
[23:14:27] <andypugh> I did a pull, then merged the working branch.
[23:15:03] <andypugh> Then push --dry-run, then log -p (the dry run range) and still didn't spot the error.
[23:15:34] <andypugh> I think I need to do something after the merge.
[23:15:45] <JT-Shop> I don't have local working branches so I'm more clueless than normal
[23:16:19] <andypugh> I have several, for different things I am working on, based on different heads.
[23:17:20] <JT-Shop> kenneth is persistent on getting gladevcp under his belt
[23:18:20] -!- mhaberler has quit [Quit: mhaberler]
[23:18:32] <andypugh> He is amazing persistent for someone very nearly too stupid to be allowed a computer :-)
[23:18:50] <JT-Shop> did you view the usb interrupts paper?
[23:19:07] <andypugh> No. Is it worth it?
[23:19:48] <andypugh> There is a worrying mains-frequency buzz from inside my wall. I am going to kill the house power to see if it is mine or next-doors.
[23:20:01] <andypugh> (And, so, will be logging off)
[23:20:54] -!- andypugh has quit [Quit: andypugh]
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[23:21:34] <JT-Shop> no
[23:21:40] <JT-Shop> goodnight
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[23:25:14] <andypugh> So, USB paper?
[23:25:35] <andypugh> (And does it tie in at all with the RTAI.org USB driver?
[23:26:11] <JT-Shop> http://www.embeddedsys.com/subpages/resources/images/documents/InterruptsAndUSB.pdf
[23:26:22] <JT-Shop> no, doesn't seem to
[23:26:39] <JT-Shop> the why not usb again topic
[23:28:26] <andypugh> Yes, I saw the post, and that Pete was unconvinced, so dodn't bother.
[23:29:00] <JT-Shop> he replied to my do you have a link question so I looked again
[23:30:54] <JT-Shop> so your mains are ok?
[23:32:58] <andypugh> Yeah, all power off and the noise remains. I will have to mention it to the folks next door if I see them tomorrow.
[23:33:12] <andypugh> Assuming both houses don't burn down tonight, of course.
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[23:34:38] <JT-Shop> a bit of a risk being connected at the hip to your neighbors house so to speak
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[23:35:53] <andypugh> Aye, but detatched costs a lot more in the UK
[23:36:36] <JT-Shop> limited ground to build, so have to make the most of it
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[23:37:21] <JT-Shop> New Orleans is the same way... surrounded by water on all sides (sometimes) so no where to go
[23:37:35] <JT-Shop> I'm glad to be away from there
[23:43:55] <andypugh> Right, this time I am gone.
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