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[00:32:50] <seb_kuzminsky> PCW: you had said earlier there was an sserial bug that you wanted to have micges fix before 2.7.0~pre3, is that the push he did last night/this morning or is there more to come?
[00:35:57] <seb_kuzminsky> i love seeing a long string of commits improving the tests, like this:
https://github.com/robEllenberg/linuxcnc-mirror/commits/feature/spiral-arc-handling-rebase
[00:38:12] <PCW> Thats the one (set sserial.run false if sserial is totally bollixed up)
[00:40:37] <seb_kuzminsky> alright cool
[00:40:40] <PCW> This allows hal logic to deal appropriately with remote I/O failures
[00:40:53] <seb_kuzminsky> that's great
[00:41:34] <seb_kuzminsky> then the last thing for the next pre-release is rob ellenberg's spiral fix, and arceye's spiral tolerance patch
[00:42:06] <PCW> also the X/Y only fix?
[00:42:17] <seb_kuzminsky> rob says his spiral feature branch is passing all the tests now
[00:42:29] <seb_kuzminsky> remind me what the X/Y only fix is please?
[00:43:04] <PCW> acceleration/velocity violations in 2 axis machines
[00:43:28] <seb_kuzminsky> do you have a link?
[00:44:02] <PCW> (I think rob ellenberg added a test)
[00:44:04] <PCW> This was something on the forum
[00:44:44] <seb_kuzminsky> is it part of the spiral-arc work? sam pointed out some acc issue with low-acc Z and high-acc X & Y, and rob fixed it
[00:45:19] <PCW> Yeah I think its fixed as part of that
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[00:46:17] <seb_kuzminsky> skunkworks: do you know this issue? can you confirm it's fixed in rob's latest branch?
[00:47:41] <seb_kuzminsky> whoops, bug #402 should be fixed too,
https://sourceforge.net/p/emc/bugs/402/
[00:50:10] <PCW> its neat that I can run PCI and Ethernet on the same hardware with uspace,
[00:50:11] <PCW> a bit surprised someone would try parallel port (though I guess it should work)
[00:50:36] <PCW> just lumpy
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[00:50:50] <seb_kuzminsky> bbl
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[01:24:25] <skunkworks> that was the main fix was for the xy only config - plus he did a bunch of arc spiral stuff. (I don't understand) :) He did say he has a couple of issues yet to figure out. (thought he would work on it tonight.) (moves taking more time then they should)
[01:29:01] <skunkworks> (and speeding up motion)
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[03:11:13] <Tom_itx> when using mesaflash to write a bitfile to a card, do you need to erase before write or just write the file?
[03:11:47] <cradek> I've never erased
[03:12:19] <Tom_itx> have you uploaded different bitfile configurations or the same one?
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[03:12:40] <Tom_itx> i'm just used to µC's where you need to erase first
[03:12:58] <Tom_itx> maybe the utility takes care of it for me
[03:13:25] <Tom_itx> i have the command line PCW gave me to load the file..
[03:13:30] <Tom_itx> guess i'll just try it
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[03:52:27] <Tom_itx> yeah the utility does an erase before write
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[03:57:40] <Tom_itx> must have worked.. was able to readhmid and show the new configuration
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[15:45:40] <seb_kuzminsky> be
[15:45:50] <seb_kuzminsky> ...
[15:45:55] <cradek> I have that one down
[15:46:13] <seb_kuzminsky> i may need more coffee before i try to keyboard
[15:46:27] <cradek> still working on excel, flourish
[15:46:44] <seb_kuzminsky> i try to stay away from microsoft products
[15:48:05] <seb_kuzminsky> i'm looking at
https://sourceforge.net/p/emc/bugs/402/
[15:48:47] <seb_kuzminsky> probe_parport is still useful in some situations, right? it wakes up PnP parports on systems that dont use parport_pc
[15:49:26] <seb_kuzminsky> we no longer recommend blacklisting parport_pc, so it shouldnt be an issue on new installs, but old installs still need it
[15:49:36] <cradek> I don't know
[15:49:53] <cradek> do you mean old installs that blacklisted parport_pc?
[15:50:07] <seb_kuzminsky> yeah
[15:50:40] <cradek> so if you remove it in 2.7 and put an unblacklist instruction in UPDATING it's all good?
[15:50:54] <seb_kuzminsky> or other installs that dont load parport_pc for some reason, like Marius Liebenberg's machine
[15:51:41] <seb_kuzminsky> yeah that seems like a good way to go
[15:51:48] <pcw_home> so probe_parport was used to poke at parallel port hardware (for chipset specific setup) in cases that the driver needed to be blacklisted?
[15:52:04] <seb_kuzminsky> pcw_home: not quite
[15:52:06] <cradek> hm I missed that one. do you know what was unusual about his setup?
[15:52:23] <seb_kuzminsky> it poked the PnP controller to wake up a parport
[15:52:52] <seb_kuzminsky> normally parport_pc (the standard linux parport driver) would do that, but our hal_parport was incompatible with linux's parport_pc until... some time in the past
[15:53:08] <seb_kuzminsky> cradek:
https://sourceforge.net/p/emc/bugs/410/
[15:54:04] <seb_kuzminsky> see the lsmod.txt a couple of messages down
[15:54:16] <pcw_home> are there any PNP ports on post ISA MBs?
[15:54:21] <seb_kuzminsky> parport_pc is missing, he never got back to me with why
[15:55:09] <seb_kuzminsky> pcw_home: i think pnp is an extension to isa
[15:55:36] <seb_kuzminsky> so it only exists on motherboards towards the end of the isa era
[15:56:04] <seb_kuzminsky> so i feel a bit silly even thinking about how to support this...
[15:56:44] <seb_kuzminsky> i think cradek's right (as usual) and i should remove it in 2.7 and tell people to use parport_pc
[15:56:49] <seb_kuzminsky> and update all the configs
[15:56:52] <seb_kuzminsky> and stepconf
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[16:01:00] <cradek> I can do the remove if you will do the tell people
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[16:10:52] <seb_kuzminsky> cradek: yes please
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[16:16:13] <seb_kuzminsky> it was commit 8b0268299f79 (in 2009) that made hal_parport not need probe_parport any more, it's in 2.4 and newer
[16:17:40] <seb_kuzminsky> parport_pc was un-blacklisted at about the same time (in 2.4)
[16:18:31] <cradek> huh where's kgb?
[16:18:41] <cradek> buildbot is chewing on cradek/remove-probe-parport now
[16:18:59] <seb_kuzminsky> thanks
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[16:19:28] <pcw_home> must be in about every hal file
[16:19:32] <seb_kuzminsky> KGB-linuxcnc: welcome back!
[16:19:34] <cradek> KGB-linuxcnc: slacker
[16:19:40] <KGB-linuxcnc> seb_kuzminsky: My master told me to not respond.
[16:19:43] <KGB-linuxcnc> cradek: My master told me to not respond.
[16:19:58] <cradek> creepy
[16:20:02] <seb_kuzminsky> KGB-linuxcnc: but ironically you did
[16:20:02] <KGB-linuxcnc> seb_kuzminsky: My master told me to not respond.
[16:20:27] <cradek> KGB-linuxcnc: you have the right to remain silent, but you have to tell us that's what you're doing
[16:20:27] <KGB-linuxcnc> cradek: My master told me to not respond.
[16:20:43] <seb_kuzminsky> it's always weirded me out when software refers to itself
[16:21:15] <seb_kuzminsky> "Thou shalt not make a machine in the likeness of a man", one of the Dune commandments i can really get behind
[16:23:11] <seb_kuzminsky> cradek: that's the kind of conflicting instruction that melts down thinking machines
[16:24:05] <cradek> thank the roberts court
[16:24:33] <seb_kuzminsky> https://www.youtube.com/watch?v=q-k2y5NooyE
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[16:28:36] <mozmck> huh, git gui tells me the linuxcnc repository has about 2048 loose objects and wants me to compress the database?
[16:28:39] <mozmck> what does that mean?
[16:29:03] <seb_kuzminsky> git stores objects in two ways: loose and packed
[16:29:22] <seb_kuzminsky> loose objects are quicker to write, but packed objects are quicker to read and more compact on disk
[16:29:40] <seb_kuzminsky> packing objects is also kind of a slow operation
[16:29:58] <seb_kuzminsky> so git writes objects loosely first, then every once in a while goes back and packs them all
[16:30:00] <mozmck> huh, so saying ok won't hurt anything then
[16:30:11] <seb_kuzminsky> no, it will make things better
[16:30:17] <mozmck> ok
[16:30:18] <seb_kuzminsky> it just will take a few seconds
[16:30:39] <mozmck> How can I view the differences between 2 branches?
[16:30:49] <seb_kuzminsky> git diff branch1..branch2
[16:31:14] <seb_kuzminsky> or gitk branch1..branch2 if you like pretty pictures
[16:31:38] <mozmck> oh, I see. I use for my own stuff, but don't often have to do something like that.
[16:32:11] <mozmck> Do you know when joints_axes6 was last rebased from master? will it have the new TP in it?
[16:32:38] <seb_kuzminsky> i think cradek rebased it at the texas hackfest, so yes it should have the new tp in it
[16:32:50] <cradek> yes it's post-new-tp
[16:33:27] <cradek> that one was hard - a new rebase would be easy if you want newer stuff
[16:33:37] <mozmck> ok. So what is the procedure to pull in the latest patches to the TP (or anything else)?
[16:33:47] <mozmck> oh, a new rebase?
[16:34:20] <cradek> yeah you could just rebase it again
[16:34:35] <cradek> it will probably not have any major conflicts (maybe none at all)
[16:35:43] <seb_kuzminsky> cradek: did you see the imerge "rebase with history" technique? it overcomes the "rebase loses history" problem that you pointed out
[16:35:45] <cradek> nope, it has some
[16:35:55] <cradek> brb
[16:36:04] <mozmck> ok, I may try that then.
[16:36:42] <mozmck> seb_kuzminsky: how often are changes to 2.6 and 2.7 merged into master?
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[16:37:15] <seb_kuzminsky> mozmck: almost every time anything changes on any branch, they're merged up
[16:37:24] <mozmck> ok
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[17:05:18] * cradek unconflicts all seventyeleven copies of shcom
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[17:06:50] <mozmck> cradek: are you doing a new rebase?
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[17:07:00] <cradek> yeah ... I thought it would be trivial
[17:07:21] <mozmck> heh! ok
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[17:11:30] <mozmck> cradek: If I want to use the work you started on synchronized homing, how can I pull that over and merge it into a branch in a different repository?
[17:12:20] <cradek> you can add a remote with the git url the web page shows, git://timeguy.com/linuxcnc.git
[17:12:29] <cradek> then fetch the branch from that and merge it like normal
[17:12:58] <mozmck> ah, I see. I cloned your repo and was trying to figure out how to merge that way.
[17:18:25] <cradek> yeah that's not the best way
[17:18:53] <cradek> after a while you will build up a nice list of remotes, which is much better than a bunch of clones
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[17:20:50] <mozmck> that makes sense.
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[17:30:54] <cradek> yurrrgh halui
[17:36:26] <linuxcnc-build> build #2342 of 4007.deb-precise-i386 is complete: Failure [4failed shell_3] Build details are at
http://buildbot.linuxcnc.org/buildbot/builders/4007.deb-precise-i386/builds/2342 blamelist: Chris Radek <chris@timeguy.com>
[17:36:46] <linuxcnc-build> build #2338 of 4003.deb-lucid-i386 is complete: Failure [4failed shell_3] Build details are at
http://buildbot.linuxcnc.org/buildbot/builders/4003.deb-lucid-i386/builds/2338 blamelist: Chris Radek <chris@timeguy.com>
[17:37:24] <linuxcnc-build> build #2342 of 4008.deb-precise-amd64 is complete: Failure [4failed shell_3] Build details are at
http://buildbot.linuxcnc.org/buildbot/builders/4008.deb-precise-amd64/builds/2342 blamelist: Chris Radek <chris@timeguy.com>
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[17:38:33] <cradek> figures
[17:38:55] <cradek> whoops
[17:39:22] <cradek> and I'm in the middle of my rebase so I can't fix it
[17:39:56] <cradek> it's too bad about how git is
[17:41:11] <linuxcnc-build> build #1177 of 4009.deb-precise-rtai-i386 is complete: Failure [4failed shell_3] Build details are at
http://buildbot.linuxcnc.org/buildbot/builders/4009.deb-precise-rtai-i386/builds/1177 blamelist: Chris Radek <chris@timeguy.com>
[17:47:40] <cradek> yurrrgh keystick
[17:47:44] <cradek> I think I'm gonna cry
[17:48:01] <cradek> every place we send any nml message has changed
[17:48:28] <skunkworks> imerge! ;)
[17:48:32] <cradek> and all these old guis have their own copies, which I think will be get deleted later in the rebase
[17:49:04] <mozmck> NML changed?
[17:49:22] <cradek> yeah the clashing serial number crap is all fixed now
[17:49:30] <cradek> so it's totally worth it, but still a pain
[17:49:52] <mozmck> oh, I didn't know about the clashing serial numbers.
[17:50:19] <cradek> yeah the bug reports were things like "my multiple gui setup sometimes stops responding for 30 seconds"
[17:57:03] <linuxcnc-build> build #2340 of 4006.deb-lucid-rtai-i386 is complete: Failure [4failed shell_3] Build details are at
http://buildbot.linuxcnc.org/buildbot/builders/4006.deb-lucid-rtai-i386/builds/2340 blamelist: Chris Radek <chris@timeguy.com>
[17:57:42] <linuxcnc-build> build #2337 of 4004.deb-lucid-amd64 is complete: Failure [4failed shell_3] Build details are at
http://buildbot.linuxcnc.org/buildbot/builders/4004.deb-lucid-amd64/builds/2337 blamelist: Chris Radek <chris@timeguy.com>
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[18:02:11] <linuxcnc-build> build #401 of 4015.deb-wheezy-rtpreempt-amd64 is complete: Failure [4failed shell_3] Build details are at
http://buildbot.linuxcnc.org/buildbot/builders/4015.deb-wheezy-rtpreempt-amd64/builds/401 blamelist: Chris Radek <chris@timeguy.com>
[18:02:16] <linuxcnc-build> build #908 of 4017.deb-wheezy-amd64 is complete: Failure [4failed shell_3] Build details are at
http://buildbot.linuxcnc.org/buildbot/builders/4017.deb-wheezy-amd64/builds/908 blamelist: Chris Radek <chris@timeguy.com>
[18:03:18] <linuxcnc-build> build #907 of 4016.deb-wheezy-i386 is complete: Failure [4failed shell_3] Build details are at
http://buildbot.linuxcnc.org/buildbot/builders/4016.deb-wheezy-i386/builds/907 blamelist: Chris Radek <chris@timeguy.com>
[18:04:11] <linuxcnc-build> build #362 of 4014.deb-wheezy-rtpreempt-i386 is complete: Failure [4failed shell_3] Build details are at
http://buildbot.linuxcnc.org/buildbot/builders/4014.deb-wheezy-rtpreempt-i386/builds/362 blamelist: Chris Radek <chris@timeguy.com>
[18:06:35] <linuxcnc-build> build #610 of 4018.deb-wheezy-rtai-i386 is complete: Failure [4failed shell_3] Build details are at
http://buildbot.linuxcnc.org/buildbot/builders/4018.deb-wheezy-rtai-i386/builds/610 blamelist: Chris Radek <chris@timeguy.com>
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[19:23:59] <cradek> hahaha keystick has six copies of this, one for each jog key
[19:24:04] <cradek> that's just amazing to me
[19:35:21] <mozmck> copies of what?
[19:35:32] <mozmck> code that could have been it's own function?
[19:41:48] <cradek> yep it's horrible
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[19:58:07] <skunkworks> andypugh,
http://bbs.homeshopmachinist.net/threads/65685-Washing-machine-motor-re-purposed-as-a-stepper
[20:00:44] <andypugh> I have tried to explain, but he won’t have it.
[20:01:22] <skunkworks> oh. darn
[20:01:36] <skunkworks> (as have I now...)
[20:01:46] <andypugh> You can even see the hall sensor board in his first photo
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[20:27:47] <cradek> there is a separate case for each of the six jog keys and for incremental and continuous, so 12 copies
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[20:33:39] <cradek> ahh xemc is slightly less bad, and then shcom is less bad than that
[20:33:45] <cradek> at least it improved over time
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[20:35:07] <skunkworks> I resemble that rant
[20:35:49] <skunkworks> I think the name for the song is fitting
https://www.youtube.com/watch?v=IXrYOM0VSKI&feature=youtu.be
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[20:40:07] <skunkworks> andypugh, how did you know where to put the hal sensors? is it just common that you align (center) them to the coils?
[20:40:32] <skunkworks> or did you have to then adjust the alignment in hal?
[20:41:02] <andypugh> They can be in a number of possible places, but the bldc component can handle all the sensible ones. Between three adjacent pole pieces is easy though.
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[21:16:03] <KGB-linuxcnc> 03Chris Radek 05cradek/joints_axes7 5b703af 06linuxcnc New branch with 167 commits pushed, 10183 files changed, 038776(+), 045062(-) since master/04828fe
[21:17:51] <KGB-linuxcnc> 03Chris Radek 05cradek/remove-probe-parport 7cd12f1 06linuxcnc 10(18 files in 15 dirs) Remove probe_parport, which is unneeded since we now cooperate with parport_pc * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=7cd12f1
[21:17:58] <mozmck> cradek: wow! looks like that was a good bit of work.
[21:18:38] <cradek> mozmck: yeah I named it cradek/... because it was pretty extensive. if buildbot is happy I'd love it if you'd try it out.
[21:18:52] <cradek> if you have decent results I'll rename it joints_axes7
[21:19:01] <mozmck> I'll certainly plan to shortly.
[21:22:17] <mozmck> will the buildbot compile it automatically?
[21:22:43] <cradek> yes it's chewing on both my test branches
[21:22:48] <mozmck> ok
[21:23:14] <cradek> it's doing ja7 now
[21:24:19] <mozmck> Is it possible to do more frequent merges of master to ja*, and then rebase on master later just before merging ja* to master?
[21:24:42] <cradek> not really, you can't mix merge and rebase that way without causing pain
[21:24:51] <andypugh> what’s new in ja7?
[21:25:02] <cradek> the rebase is very easy, except when it isn't (like when someone changes all the nml-issuing sites)
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[21:25:24] <mozmck> ok. at this rate we'll have ja97 and all the branches in between someday :)
[21:25:31] <cradek> andypugh: it's on top of the new master, so whatever's new in master
[21:26:00] <cradek> mozmck: for simple rebases I'd just reuse the old name, but whenever it's nasty I like to keep the old one around
[21:26:08] <mozmck> I see.
[21:26:08] <andypugh> JA has been waiting patienly in the wings since the very first time I logged in to the IRC
[21:26:28] <cradek> yep it's sure old
[21:26:39] <cradek> up to ja3 were cvs branches
[21:27:12] <mozmck> So will it be easier to get ja fixed or add world mode incremental jogging to master?
[21:27:21] <cradek> some of us have worked hard to flog it along, but none of us have worked hard enough to finish the last little things
[21:27:58] <cradek> mozmck: finishing and merging ja is the only reasonable one of your two alternatives
[21:28:20] <mozmck> Well, I have some incentive, we'll see how it works out.
[21:28:25] <cradek> yay that's wonderful
[21:28:32] <cradek> I'll help if/as I can
[21:28:43] <mozmck> I'm sure I'll need help :)
[21:28:58] <andypugh> In the parallel universe where I have infinite spare time I am working on conforming to joint dt and ddt limits in world mode.
[21:29:18] <andypugh> Sadly this is not that universe.
[21:29:20] <cradek> andypugh: that would be wonderful too
[21:29:53] <cradek> andypugh: in your other universe do you have an algorithm in mind?
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[21:30:09] <andypugh> It looks not-too-hard as at the point where kins is called the old result is available.
[21:30:43] <andypugh> The last call to the kins and the next call are effectively a discrete derivative of the kins.
[21:30:51] <cradek> I don't think you can do it there, I think you have to do it when you plan the whole move initially
[21:31:10] <andypugh> So then you “just” need to bring in a feed adaption if any joint is nearing the limit...
[21:31:25] <cradek> imagine moving close to the center of a polar machine - during the move the situation gets worse and worse, and you have to go back in time and not get going so fast
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[21:31:44] <cradek> I think you have to examine the whole move before you start it
[21:31:57] <andypugh> I would like to try it and see.
[21:32:37] <andypugh> There is definitely a problem, you can see it claerly in the 5-axis gantry sim.
[21:32:38] <mozmck> I still need a better overall picture of how linuxcnc works... It's probably out there if I keep digging.
[21:32:53] <cradek> my attempt would be to chop up the move into a reasonable number of chunks (probably iteratively and adjusting your recursive chopping if you detect singularities) and do experimental discrete derivs using a few extra kins invocations
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[21:33:32] <cradek> and if you see violations, scale back the whole move proportionally
[21:34:57] <cradek> argh I need to retire so I have time for everything
[21:35:16] <andypugh> How would jogging fit into that scheme?
[21:35:40] <andypugh> (I am not sure how much like a move a jog looks)
[21:35:48] <cradek> hmm good question
[21:36:17] <cradek> I am not even sure how world mode jogging is implemented nowadays (in ja land)
[21:37:22] <cradek> if you find that you're going to violate constraints you could stop the jog
[21:37:30] <cradek> I think you might have to fall off the desired path a bit
[21:37:47] <cradek> I can't quite picture it
[21:38:18] <cradek> interestingly, joint jogs can violate world constraints too. I don't think we care though
[21:39:25] <cradek> emc1 used to do jogging by shooting a vector in the desired direction and planning a world mode move to the endpoint at the world volume's edge
[21:39:37] <andypugh> No, I can’t see why you would even have world constraints.
[21:39:41] <cradek> once you have move planning I think you can do the same thing for jogging
[21:40:39] <cradek> it would be funny/sad if we eventually have to revive emc1's approach
[21:40:47] <andypugh> It occurred to me that the kinematics of a laser galvanometer system are not even governed by relativity.
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[21:41:14] <cradek> heh because the radius can be long?
[21:41:39] <andypugh> Yes, but the controlled-point is non-physical
[21:41:46] <cradek> yeah
[21:41:52] <cradek> interesting
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[21:46:08] <andypugh> Hmm, why isn’t there a free 4-axis CAM package out there?
[21:47:09] <PCW> other phenomena travel faster than physical velocity (wave crashing on beach)
[21:47:13] <mozmck> Is there even a free 3D CAM package out there?
[21:47:32] <PCW> FreeCAD
[21:47:37] <mozmck> not CAM
[21:47:38] <andypugh> PyCAM
[21:47:45] <PCW> it has CAM
[21:48:05] <mozmck> oh? I saw talk of doing it, but didn't know it had it yet.
[21:48:18] <mozmck> I've heard of pyCAM, where is that?
[21:49:18] <mozmck> ah,
http://pycam.sourceforge.net/
[21:50:01] <andypugh> It’s quite nice, but some of the toolpath modes are unusably slow.
[21:52:30] <mozmck> great, there's another freeCAD:
http://www.ar-cad.com/freecad/index.html
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[21:55:49] <mozmck> andypugh:
https://code.google.com/p/simplemultiaxiscam/
[21:57:06] <andypugh> Ooh! OSX too!
[21:58:30] <mozmck> oh groan, it's in java.
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[22:29:55] <mozmck> zlog
[22:29:55] <zlog> mozmck: Log stored at
http://tom-itx.no-ip.biz:81/~tom-itx/irc/logs/%23linuxcnc-devel/2015-01-14.html
[22:30:41] <mozmck> did the buildbot finish on ja7?
[22:30:49] <cradek> not quite yet
[22:30:57] <mozmck> ok
[22:30:57] <cradek> but it's generating docs, so I bet it's going to succeed
[22:31:07] <mozmck> oh good!
[22:33:56] <cradek> yep the first one finished
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[22:34:22] <cradek> cradek/remove-probe-parport is starting
[22:34:37] <Tom_itx> ok, my update from 2.5 to 2.6 went smooth _and_ mesaflash worked without a hitch!
[22:34:47] <cradek> awesome
[22:34:48] <Tom_itx> just letting you guys know ... patting on back
[22:34:56] <Tom_itx> appreciate all your efforts
[22:36:18] <micges> Tom_itx: that's good
[22:36:51] <Tom_itx> once i get the wiring sorted for these new boards i'll make the move to 2.7
[22:39:37] <Tom_itx> mesaflash 3.1
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[23:22:59] <seb_kuzminsky> Tom_itx: it's always nice when something works :-)
[23:23:52] <Tom_itx> i've still got a ways to go before i turn it loose but that part works
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[23:59:46] <KGB-linuxcnc> 03Sebastian Kuzminsky 052.7 87dfa68 06linuxcnc 10docs/src/getting-started/Updating_LinuxCNC.txt docs: don't load probe_parport any more * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=87dfa68