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[03:25:45] <KGB-linuxcnc> 03elson 05v2.5_branch d6f2fd0 06linuxcnc 10src/hal/drivers/hal_ppmc.c * add velocity estimation via encoder timestamp to PPMC encoder
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[04:01:37] <linuxcnc-build> build #273 of precise-i386-realtime-rip is complete: Failure [4failed clear-dmesg compile get-dmesg] Build details are at
http://buildbot.linuxcnc.org/buildbot/builders/precise-i386-realtime-rip/builds/273 blamelist: elson <elson@pico-systems.com>
[04:06:13] <linuxcnc-build> build #1070 of checkin is complete: Failure [4failed] Build details are at
http://buildbot.linuxcnc.org/buildbot/builders/checkin/builds/1070 blamelist: elson <elson@pico-systems.com>
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[06:15:28] <psha[work]> mhaberler: i've stared a bit on pb2json
[06:15:49] <mhaberler> the one from renenglish?
[06:16:01] <psha[work]> two things - i've working prototype for json2pb and overall code quality of pb2json is bad...
[06:16:10] <mhaberler> yes I know
[06:16:20] <mhaberler> the move from 0 to 1...
[06:17:11] <mhaberler> are you using jannson? that's what I've decided to use so far
[06:17:21] <psha[work]> yep, why not
[06:17:24] <psha[work]> it's already there
[06:17:49] <psha[work]> api looks fine and library looks good from all points
[06:17:50] <mhaberler> it's pretty clean, well documented and works as advertised
[06:17:54] <mhaberler> right
[06:17:55] <psha[work]> yea
[06:18:09] <psha[work]> however pb2json looks like prototype
[06:18:40] <psha[work]> Message *p = new Person();
[06:18:40] <psha[work]> int r = json2pb(p, json, sizeof(json)-1);
[06:18:40] <psha[work]> printf("Result: %d\n", r);
[06:18:40] <psha[work]> printf("JSON: %s\n", pb2json(*p));
[06:18:47] <mhaberler> do you mean 'cleanup required' or 'broken as designed'?
[06:19:27] <psha[work]> broken but fixable - code is not bad but it has strange organization
[06:19:42] <psha[work]> for example #include <jansson.h> in header
[06:20:27] <psha[work]> or char * pb2json function with allocation but not with std::string
[06:20:28] <mhaberler> btw I found the route over pb and then converting to/from json much easier and robuster than directly creating/parsing json trees; define message once, done - rest automatice, including type checking -
[06:21:25] <psha[work]> hm, either message is stripped or i'm too dumb
[06:21:30] <mhaberler> do prototype in python, generate json from pb - all very easy
[06:23:04] <psha[work]> yep, python is much cleaner in 'arbitrary type iteration' code
[06:23:24] <psha[work]> however i bet you'll need C implementation of json/pb marshaling
[06:23:31] <mhaberler> yes
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[06:24:17] <mhaberler> it's a missing piece; pb2 and json conversion in python is too much for time-critical code; at least with the default pb2 python build
[06:24:34] <mhaberler> but ok for prototype and trying out before recoding in c/c++
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[10:59:18] <memleak> jepler --with-boost-python=abracadabra doesn't work anymore in branch master (nor rtos-master-v0)
[10:59:43] <memleak> not sure what broke it.. is abracadabra replaced by something else now?
[11:03:52] <memleak> symlinking /usr/lib64/libboost_python-2.7.so to /usr/lib64/libboost_python.so fixed it but i just wanted to inform the devs ;)
[11:10:18] <jepler> I do not see any differences since a32eed3 (April 7) in configure.in which would change the behavior. (we talked about this earlier on April 15)
[11:11:11] <jepler> you could determine if the problem is a linuxcnc change or something on your end by 'git checkout a32eed3' and reconfigure with that revision. if that succeeds then it means we did accidentally break it, and 'git bisect' can determine the commit that broke it.
[11:11:27] <jepler> 'git checkout master' to go back to the tip of the master branch after your test
[11:14:49] <memleak> ok will do, thanks!
[11:16:17] <memleak> who picked the name abracadabra btw?
[11:17:11] <jepler> [3$linuxcnc-devel-2013-04-15.log:12:57 < jepler> It looks if your boost python lib is libboost_python-abracadabra.so then use --with-boost-python=abracadabra
[11:17:18] <jepler> I didn't, I used it as a placeholder
[11:17:38] <jepler> maybe the bug is in your notes
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[11:34:06] <memleak> implicit declaration of _BIT_TEST _BIT_SET and _BIT_CLEAR ?
[11:34:32] <memleak> file is hal/drivers/hal_gpiomap.c
[11:34:42] <memleak> gpio_bitmap is undeclared.
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[11:40:31] <memleak> rtos-integration-preview3-merged-into-master works, rtos-master-v0 doesn't..
[11:46:12] <memleak> probably have to see mhaberler about that one..
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[12:26:32] <jepler> Use RTAPI_BIT_SET instead of _BIT_SET, etc
[12:27:22] <jepler> _BIT_SET are APIs provided by the kernel; we used to provide compatibility code for userspace but decided it was best to provide it under a name with the RTAPI prefix.
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[13:41:08] <elk> I'm trying to understand how Axis works with the interpreter to get all of the position points for the plotter. I am looking in emcmodule.cc, is this the right place to look? I can see the openGL that is used to draw the lines from the points, but I don't see where the points are taken from the interpreter
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[14:03:55] <cradek> elk: the interpter calls the canonical functions in gcodemodule.cc, which call into the python implementation
[14:05:35] <cradek> then the python in lib/python/rs274/interpret.py does the actual work
[14:06:55] <cradek> er I guess it's mostly in glcanon.py
[14:07:35] <elk> so when axis plots the image of the path that is to be machined it is not using the same interpreter that linuxcnc uses to find the trajectory of the path?
[14:08:07] <cradek> it depends what you mean by same. it is the same interpreter, but a different invocation of it
[14:09:38] <jepler> for instance, at a certain step of interpreting the line 'G1 X1' both the axis preview and the actual run will go through the routine convert_straight in interp_convert.cc
[14:10:07] <elk> oh i c
[14:10:11] <jepler> in axis the call STRAIGHT_FEED will head into Python; in task it will head into other layers of C++ and eventually realtime
[14:10:54] <jepler> but for instance they have independent ideas of the values of variables, so previewing code that says '#1 = 1' doesn't change the value of #1 in task, and vice versa
[14:13:24] <elk> but axis preview generates the plot of the part being machined as soon as the gcode program is entered in the GUI and doesn't happen at the same time that the calls to STRAIGHT_FEED are used by Task or the real-time stuff?
[14:13:53] <cradek> yes
[14:14:18] <cradek> generating the preview of moves in AXIS and running the motion are done totally separately
[14:14:47] <elk> So the same interpreter functions that are called by the real-time stuff are called by axis, but they are called in advance using Python
[14:14:48] <cradek> you then also get a backplot (constantly move the cone to where motion is putting the machine)
[14:15:44] <cradek> yes like I said before, it's a different invocation of the same interpreter
[14:18:30] <elk> On another note, if we are able to interpret the entire program in advance using the current interpreter, why is there only a single line look ahead? Seems like it should be doable to have a 1000 line look ahead (like fanuc) which would allow some nice smooth 5-axis machining..
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[14:19:25] <cradek> I agree with you, seems like it should be doable.
[14:19:47] <jepler> mostly it needs someone with the time and inclination to do it.
[14:20:21] <jepler> One wrinkle is that even if you're good at implementing algorithms described in papers, those papers all omit stuff that is important in linuxcnc, like supporting spindle-synchronized motion for threading via lathe and rigid tapping
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[14:21:03] <jepler> linuxcnc also always follows machine acceleration and velocity constraints even when Feed Override is set above 100%; algorithms from papers usually don't give this property either
[14:23:05] <elk> do you guys think it is a big task to implement the look ahead? has anyone tried? just wondering if it's worth looking at or something that has been tried before/too big of an effort
[14:23:16] <pcw_home> I would be nice to have (TM) a motion module for routers etc that did not have to deal with those contraints
[14:23:31] <cradek> to my knowledge nobody has seriously tried
[14:23:53] <cradek> but many people have opined that it should be easy
[14:24:08] <pcw_home> :-)
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[14:24:47] <cradek> pcw_home: what you say is true - routers that want to do fast contouring sure don't cut threads
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[14:25:56] <elk> are you guys familiar with the book "Theory and Design of CNC Systems", theres a section in there about look ahead
[14:25:57] <cradek> while lathes that DO want to cut threads often have very simple profiles
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[14:26:45] <elk> i browsed it, didn't seem like a big deal, but I'd be curious to take a look at the papers you were referring to with the algorithms for look ahead which confilict with linuxcnc
[14:29:07] <jepler> I don't have a specific paper in mind; I've skimmed a number over the years and noted these bits missing
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[14:31:58] <elk> from just skimming it seems that you just look ahead at the lines in the program and calculate the max velocity you can move at so you don't have to slow down between moves. Seems linuxcnc has blending, is that basically the single line look ahead or something entirely different
[14:31:59] <cradek> it strikes me that simple time scaling can work if you have a max-feed-override that's set as low as practical. I bet for real world machining work that solution would be ok.
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[14:32:33] <cradek> it's probably important to realize there are tradeoffs and to not reject all approaches that cause the smallest sacrifice
[14:44:34] <elk> what do you mean by time scaling, are you still referring to look ahead?
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[15:32:33] <elk> I've been looking for where Axis calls the interpreter, can someone direct me to the file which shows Axis invoking the interpreter?
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[18:47:32] <seb_kuzm1nsky> the precise rtai buildslave broke while i was camping this weekend, causing all builds to fail :-(
[18:47:33] <seb_kuzm1nsky> i just rebooted it
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[18:48:56] <seb_kuzm1nsky> it's a bug in rtai for linuxc 3.5.7
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[18:54:38] * jepler shrugs -- just guessing
[18:54:39] <memleak> in RTAI: RTAI_LXRT_LDFLAGS="-L${staging}${libdir} @RTAI_LXRT_LDADD@ -lpthread"
[18:56:16] <mhaberler> oh. The rtai build of that branch is still broken
[18:56:25] <mhaberler> John is working on that.
[18:56:35] <memleak> RTAI_LXRT_LDADD="-llxrt"
[18:56:50] <mhaberler> please: until then, please use rtos-integration-preview3-merged-into-master
[18:57:06] <memleak> rtos-integration-preview3-merged-into-master has the same issue..
[18:57:37] <mhaberler> that is new to me; certainly not on the current kernel + libs ; I cannot tell what you have
[18:57:56] <memleak> kernel 3.5.7 w/ RTAI
[18:58:23] <mhaberler> obviously something between the 2.6.32-122-rtai kernel and libs/headers and whatever you have has changed
[18:58:40] <jepler> in the copy of rtai I have handy, the functions rt_shm_free are defined as inline functions by rtai_shm.h
[18:58:46] <jepler> so no link-time library is needed to provide them
[18:58:48] <mhaberler> ah
[18:59:22] <jepler> so this problem could be due to changes in rtai, or due to something else like disabling inline functions via -O0
[18:59:32] <mhaberler> well you might get away adding that library as suggested by Jeff then
[18:59:37] <jepler> or .. condensation in the cloud server room
[19:00:28] <memleak> jepler: would using eager inlining in RTAI's configuration (as opposed to no inlining) fix the issue?
[19:00:50] <jepler> memleak: no clue
[19:00:53] <mhaberler> kernel config? certainly not
[19:01:08] <memleak> mhaberler, make menuconfig in RTAI source (not kernel)
[19:01:24] <mhaberler> ah
[19:01:29] <memleak> its for the stuff in /usr/realtime
[19:02:02] <mhaberler> all you need to do is add the library to the link flags for liblinuxcnchal.so
[19:02:33] <memleak> in linuxcnc yes?
[19:02:42] <mhaberler> in that case, yes
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[19:03:33] <memleak> ok.. how do i do that?
[19:03:41] <memleak> (again, i apologize..)
[19:04:34] <jepler> the rule for building liblinuxcnchal.so is in src/hal/Submakefile
[19:06:22] <memleak> so under "creating shared library" i add -llxrt after $(LDFLAGS) ?
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[19:06:33] <jepler> yes
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[19:06:41] <mhaberler> yes, but that refers to RT_LDFLAGS as exported by src/rtapi/Submakefile
[19:06:43] <jepler> the proper -L path may be necessary
[19:06:53] <mhaberler> there is a section for rtai there
[19:07:07] <mhaberler> # ifeq ($(THREADS),rtai)
[19:07:08] <mhaberler> # # ...nothing
[19:07:09] <jepler> and since changes to Submakefile do not cause a target to be rebuilt, remove liblinuxcnchal.so.0 before invoking make again
[19:07:09] <mhaberler> # endif # rtai
[19:07:35] <mhaberler> uncomment the ifeq and matching endif, and insert RT_LDFLAGS= whatever there
[19:09:42] <mhaberler> hm, just ty adding in src/hal/Submakefile as an explicit flag and see if that works, if it does we can do it properly
[19:09:59] <mhaberler> I assume it doesnt hurt to always link against -llxrt
[19:11:31] <memleak> ok one moment i'll be right back! thanks a ton! give me one second!
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[19:11:43] <jepler> I just confirmed liblxrt.so is in our rtai-modules for lucid
[19:11:55] <jepler> but you'd need the right -L location
[19:12:19] <jepler> ./rtai-config --lxrt-ldflags
[19:12:19] <jepler> -L/usr/realtime-2.6.32-122-rtai/lib -lpthread
[19:12:32] <jepler> but it's not listed as needed by rtai-config
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[19:34:10] <memleak> mhaberler, have you ever had this issue with 3.5.7 with the official RTAI magma branch?
[19:34:41] <mhaberler> no, since I never tried 3.5 rtai
[19:34:54] <linuxcnc-build_> build #174 of precise-x86-rtpreempt-rip is complete: Failure [4failed apt-get-update compile runtests] Build details are at
http://buildbot.linuxcnc.org/buildbot/builders/precise-x86-rtpreempt-rip/builds/174 blamelist: Michael Haberler <git@mah.priv.at>
[19:37:07] <linuxcnc-build_> build #1077 of hardy-amd64-sim is complete: Failure [4failed compile] Build details are at
http://buildbot.linuxcnc.org/buildbot/builders/hardy-amd64-sim/builds/1077 blamelist: Michael Haberler <git@mah.priv.at>
[19:37:10] <memleak> you've only tested 3.2?
[19:37:12] <memleak> (speaking only in terms of 3.x kernels)
[19:37:15] <mhaberler> no, the one in lucid , 2.6.32 something
[19:37:25] <mhaberler> (lucid/livecd)
[19:37:30] <linuxcnc-build_> build #158 of precise-amd64-rtpreempt-rip is complete: Failure [4failed apt-get-update compile runtests] Build details are at
http://buildbot.linuxcnc.org/buildbot/builders/precise-amd64-rtpreempt-rip/builds/158 blamelist: Michael Haberler <git@mah.priv.at>
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[21:57:09] <KGB-linuxcnc> 03andy 05master 1c74b13 06linuxcnc 03tests/mux/skip * disable mux test until I get time to fix it
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[23:34:20] <memleak> Hey sorry about the delay. -L/usr/realtime/lib,-llxrt does not fix the linking error.
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[23:55:17] <memleak> oh COME ON!
http://pastebin.ca/2395245
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[23:55:58] <memleak> all of those functions are undefined in liblxrt.so, yay...
[23:58:04] <memleak> the RTAI tree is cleaner and easier to work with than ever, but completely hosed linuxcnc.
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[23:58:57] <memleak> and since i never looked into the source code of linuxcnc in the past, i can't fix any of these issues..
[23:59:52] <memleak> RT_PREEMPT it is. oh well.