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[00:24:13] <seb_kuzminsky> heh
[00:25:07] <seb_kuzminsky> skunkworks: that's perfectly ok, as far as i'm concerned - we're just lucky that the things that interest you benefit us all
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[01:11:04] <seb_kuzminsky> rtai debs for amd64 are done, i'll push them to wlo later tonight :-)
[01:17:42] <skunkworks> really?
[01:18:29] <skunkworks> I could test that on the systems I was having issues
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[02:37:39] <jepler> seb_kuzminsky: roguish will be tickled
[02:37:46] <jepler> you've boot-tested 'em?
[02:38:11] <seb_kuzminsky> yep
[02:38:39] <seb_kuzminsky> i ran the rtai latency test in an amd64 vm, it got shitty numbers of course, but it ran
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[03:23:43] <seb_kuzminsky> in order to build rtai-modules.deb for both flavors of the linux-image.deb (686-pae and amd64), i had to remove the kernel flavor from the rtai-modules name
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[03:24:04] <seb_kuzminsky> so now it's just "rtai-modules-3.16.0-9", indicating the kernel version and abi number
[03:24:44] <seb_kuzminsky> the featureset "rtai" is implied, and the flavor is implicitly determined by whether you're fetching it from jessie/base/binary-i386 (686-pae) or from jessie/base/binary-amd64 (amd64)
[03:25:06] <seb_kuzminsky> it's the simplest way i found to support multiple kernel flavors from a single rtai.dsc
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[03:53:11] <jepler> seems fine to me
[03:53:40] <jepler> thanks for working on this
[03:55:07] <seb_kuzminsky> crap, the amd64 liblxrt isnt getting compiled with -fpic so its hosed
[03:55:33] <jepler> oops, that's important
[03:55:48] <jepler> actually I wish there was a .so version of it so it could be dlopen()ed but that's another thing altogether
[03:56:08] <jepler> sounds dirty but isn't:
[03:56:12] <jepler> Subject: Poor mans soft turnon
[03:56:33] <jepler> 'night and afk
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[13:44:04] <KGB-linuxcnc> 03John Thornton 052.7 bc08ada 06linuxcnc 10docs/src/Master_Documentation.txt Docs: fix level offset * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=bc08ada
[13:44:04] <KGB-linuxcnc> 03John Thornton 052.7 7b50770 06linuxcnc 10docs/src/Master_Documentation.txt 10docs/src/Submakefile 03docs/src/code/rs274.txt 10docs/src/index.tmpl Docs: add info about the rs274 stand alone interperter * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=7b50770
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[14:43:22] <mozmck> If I'm reading the code correctly, looks like if you set SHMEM_KEY under [EMCMOT] you will break your system? usrmotintf.c will use the key number you set in the INI file, but motion.c uses DEFAULT_SHMEM_KEY
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[15:00:35] <jepler> quite possibly. Since a lot of other pieces are missing to allow running more than one linuxcnc instance, there's really no use case for changing the value..
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[17:11:52] <automata> I tried the new RTAI 3.16.0 kernel available on linuxcnc.org for jessie. but still in a VM
[17:12:24] <automata> I could get the rtai-5 branch to compile and run
[17:12:42] <automata> will try it on a computer this week
[17:12:57] <automata> will try without a VM this week
[17:13:26] <jepler> hi automata
[17:13:28] <jepler> let us know your results!
[17:27:15] <pcw_home> Did you see that lair82's latency issues went away with a newer preempt-rt kernel?
[17:27:16] <pcw_home> (the 3.2.60 kernel is not very good on newer hardware)
[17:27:18] <pcw_home> For Preemt-RT, is there any reason not to use the latest?
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[17:30:57] <automata> hi jelper
[17:31:05] <automata> *jepler
[17:32:18] <automata> I will
[17:34:23] <automata> Is there a script / list of commands to make a live CD with linuxcnc on it for wheezy which I can follow to make a simillar for jessie?
[17:34:50] <automata> that will make the testing on myraid hardware at my end much simpler
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[17:41:29] <jepler> automata:
http://timeguy.com/gitweb?p=live-images.git;a=summary branch debian is what generates our wheezy cd images
[17:42:02] <jepler> I was not able to get it to generate jessie cd images with the preempt-rt kernel, and I didn't know enough to resolve the problems I encountered. they related to missing "aufs" filesystem module, I think. I don't know the status of aufs in seb_kuzminsky's rtai kernel
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[17:47:24] <automata> aufs is required to deploy live systems
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[17:47:57] <automata> aufs was not part of mainline kernel till after kernel version 3.8 atleast
[17:48:14] <seb_kuzminsky> the 3.16 rtai kernel has aufs
[17:48:45] <automata> so older vanilla kernels required the aifs patch , which by the way debian always put for their live systems
[17:48:55] <automata> but i think since 3.14 aufs is mainline
[17:49:04] <seb_kuzminsky> jepler: i made the liblxrt.so shlib like you wanted, seems to be working
[17:49:17] <automata> thanks seb for the confirmation
[17:49:27] <seb_kuzminsky> automata: i'm building the 3.16 rtai kernel based on the 3.16.7 debian kernel, they still ship aufs as a kernel patch
[17:49:59] <seb_kuzminsky> automata: for aufs3, i'm not sure what's in mainline
[17:50:27] <automata> http://aufs.sourceforge.net/
[17:50:51] <automata> not sure what to make of that... but since you have to put a patch, I guess it is not mainline
[17:51:59] <seb_kuzminsky> jepler:
http://paste.debian.net/342023/
[17:52:00] <automata> Thanks a bunch Seb
[17:52:09] <seb_kuzminsky> automata: sure thing
[17:52:33] <seb_kuzminsky> jepler: i'm still having some problems with sse on amd64, it's all a giant mess
[17:52:55] <seb_kuzminsky> automata: what are you hacking on?
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[17:53:40] <pcw_home> looks like overlayfs is the modern replacement for aufs
[17:53:41] <automata> actually I am trying to get multi-touch screens to work with linuxcnc
[17:54:10] <automata> multi-touch support is patchy at best for 3.8 kernels
[17:54:43] <automata> so I am hoping 3.16 will improve that..
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[17:55:52] <seb_kuzminsky> automata: cool
[17:55:59] <automata> I use linuxcnc for milling gold jewellery
[17:56:09] <seb_kuzminsky> ooh, neat
[17:56:13] <seb_kuzminsky> do you have pictures?
[17:56:44] <automata> sure .. i'll put some up in a few min
[17:58:12] <automata> https://www.youtube.com/watch?v=cY1noUuqPpY
[17:59:08] <skunkworks> seb_kuzminsky, how would I get the amd64 kernel
[17:59:50] <seb_kuzminsky> automata: wow, that's a cool machine!
[18:00:21] <seb_kuzminsky> skunkworks: the kernel's at 'deb
http://highlab.com/~seb/linuxcnc jessie main', but the rtai-modules deb isnt working on amd64 yet
[18:00:23] <automata> thanks
[18:00:42] <seb_kuzminsky> automata: did you retrofit it with linuxcnc?
[18:01:00] <automata> nope ... designed from scratch with linuxcnc...
[18:01:30] <automata> The GUI software talks to linuxcnc over linuxcncrsh
[18:01:32] <seb_kuzminsky> it's impressive, mechanically - lots of moving parts!
[18:02:06] <automata> thanks...
[18:02:58] <automata> The machine in that video has 6 axis... I have also made an 8 axis model
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[18:03:26] <seb_kuzminsky> very cool
[18:03:29] <seb_kuzminsky> bbl
[18:03:43] <automata> that got 2 independently moving Z axes
[18:05:19] <automata> https://www.youtube.com/watch?v=o8-boS8B_1Y
[18:09:01] <skunkworks> ok - seb_kuzminsky so I can do an apt-get install ima-tab and there should be an rtai?
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[18:11:56] <mozmck> I wonder why aufs is required in live systems? Looks like it was rejected for merging in the kernel, but overlayfs was merged.
https://en.wikipedia.org/wiki/Aufs
[18:13:12] <pcw_home> newer live images seem to use overlayfs
[18:13:21] <mozmck> looks like overlayfs was only merged in 3.18, so not available before that.
[18:13:46] <pcw_home> ahh so stuck with aufs for rtai
[18:14:34] <skunkworks> I am not seeing a rtai linux-imag
[18:14:35] <skunkworks> http://pastebin.com/cSYGZpyJ
[18:15:02] <skunkworks> crap - sorry - wrong source...
[18:19:16] <skunkworks> How do I use your key?
[18:20:31] <skunkworks> http://pastebin.com/huivPGkq
[18:29:00] <automata> I am trying to get the current position of the joints from EMC_TRAJ_STAT
[18:29:48] <automata> however EMC_TRAJ_STAT class has members named position and actualPosition
[18:30:03] <automata> both are of type EmcPose
[18:30:16] <automata> which means they are world space coordinates
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[18:30:42] <automata> how do I get the joint coordinates (in case I am using non-trival kinematics)
[18:31:34] <automata> Joint coordinates from position and actualPosition in EMC_TRAJ_STAT
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[19:00:13] <mozmck> automata: I think hal pins may be the best way for that.
[19:02:00] <automata> hmmm
[19:02:16] <automata> I'll try..
[19:02:56] <mozmck> axis.xx.joint-pos-cmd, axis.xx.joint-pos-fb
[19:03:07] <mozmck> moter-pos-cmd
[19:03:50] <automata> yup... joint-pos-cmd
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[19:10:56] <mozmck> automata: it looks like you can also get the position in code from EMC_MOTION_STAT.axis[xx].output
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[19:15:19] <automata> looking that up right now
[19:17:32] <mozmck> the output variable is set to pos_cmd internally which is the same as the joint-pos-cmd hal pin
[19:17:48] <automata> the variable emcStatus.motion.axis[xx].output
[19:18:04] <automata> that seems good
[19:18:34] <mozmck> that should be correct
[19:18:48] <automata> got it thanks...
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[19:50:44] <seb_kuzminsky> skunkworks: curl
http://highlab.com/~seb/linuxcnc/dists/archive-signing-key.gpg | sudo apt-key add -
[19:53:16] <skunkworks> seb_kuzminsky, thanks. what installes the latency test suite? or is it in a different location?
[19:54:03] <seb_kuzminsky> it's in rtai-modules-3.16.0-9.deb
[19:54:26] <skunkworks> I thought that wasn't working
[19:54:27] <seb_kuzminsky> first you need linux-image-3.16.0-9-rtai-amd64, then reboot, then rtai-modules
[19:54:47] <skunkworks> ok - will do
[19:54:59] <seb_kuzminsky> it's just the math part that's not working, as far as i know
[19:55:03] <seb_kuzminsky> you can still run the rtai latency test
[19:57:37] <seb_kuzminsky> skunkworks: and i'm actively monkeying with that repo, so it may well be broken from time to time
[20:02:28] <skunkworks> oh
[20:03:06] <skunkworks> seb_kuzminsky,
http://pastebin.com/zaMk8HYp
[20:05:55] <seb_kuzminsky> skunkworks: i had that same problem with the user/latency test, but the kern/latency test worked for me
[20:06:00] <seb_kuzminsky> (after i fixed it)
[20:06:15] <seb_kuzminsky> since linuxcnc uses rtai in kernel mode, that's a more relevant test, anyway
[20:08:49] <skunkworks> seb_kuzminsky, oh. wasn't paying attention..
[20:09:16] <skunkworks> That works better (kern) still get the odd overrun at the start. (but you said you where getting that too...)
[20:09:29] <seb_kuzminsky> ok i'm glad it runs at least!
[20:09:45] <seb_kuzminsky> i want to get math working on amd64, then i'll look in to the overrun thing
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[20:31:31] <jepler> seb_kuzminsky: thanks for that (lxrt.so)
[20:31:46] <jepler> I have this dream that uspace could dlopen lxrt.so and use rtai's userspace realtime mode
[20:32:10] <jepler> seb_kuzminsky: do you have any more details about the math problems?
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[20:49:35] <mozmck> jepler: so with your tip, I changed my code to this and it works:
http://pastie.org/10616909 I add inhibit_probe_errors=1 to the loadrt line for motmod
[20:50:37] <jepler> does your change simply put all that checking under if (!inhibit_probe_errors) { ... } ?
[20:51:00] <jepler> git diff -b might show it more clearly for discussion purposes
[20:51:58] <mozmck> Yes it does, and I don't know why diff made a mess of it...
[20:52:01] <jepler> do I also understand correctly that with this change activated, "g0 z-1" crashes the probe right into the table instead of stopping?
[20:52:31] <jepler> .. but it lets you disable some other hack which meant that g38.2 z-1 without a preceding m-code would do the same thing?
[20:52:34] <mozmck> no, it should only affect a jog or home error
[20:52:43] <jepler> ok
[20:53:34] <jepler> returning to your specific situation, did you consider masking the probe input specifically when the homing state machine is not in state 0?
[20:53:39] <mozmck> http://pastie.org/10616915
[20:54:10] <jepler> thank you. A patch of that form is better for discussion, but not appropriate for applying with patch or git apply
[20:54:16] <mozmck> I had not heard of diff -b, need to look that up
[20:54:30] <jepler> basically, it ignores changes in amount of whitespace
[20:54:37] <mozmck> oh, I see.
[20:54:56] <jepler> but normally those have to be shown in a diff, because space is the same as any other character
[20:56:12] <jepler> I assume the letter b is just because they ran out of good letters
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[20:57:57] <jepler> it would be nice if this optional laodrt parameter were added to the motion.9 manpage (docs/man/man9)
[20:57:59] <mozmck> I haven't really looked at the homing state machine much yet.
[20:58:01] <cradek> it seems easy to mask the probe error while homing using hal
[20:58:27] <jepler> axis.N.homing OUT BIT
[20:58:27] <jepler> TRUE if the joint is currently homing
[20:58:28] <cradek> I don't know how you avoid the error while jogging past the home switch
[20:58:48] <jepler> yes it's true that doesn't help you jog on or off the switch
[20:59:15] <jepler> there's limit override, is that exposed to hal?
[20:59:18] <mozmck> I've done it in hal, using a tristate
[20:59:30] <cradek> jepler: *home*
[20:59:47] <cradek> jepler: I take it mozmck is not homing to the limit switch
[21:00:02] <jepler> cradek: it's sure not a switch you can move past in normal operation, if it also acts like triggering the probe
[21:00:07] <cradek> are there limit switches? you could home to one and save the input for just the probe...
[21:00:11] <mozmck> So I set an output with M64 in gcode to enable the probe input, call G38.2, then M65 to disable probe input again.
[21:00:44] <cradek> yuck, you sure need another input or three
[21:00:57] <jepler> adding software is easier than adding IOs
[21:01:11] <mozmck> No limit switch, but the home switch is the same as the probe input
[21:01:16] <cradek> not if you have to fiddle with special gcodes forever
[21:02:31] <cradek> fwiw, I'm fine with a patch that makes the errors optional (but I'd prefer it come from the ini file, even though it's a bit more of a pain to write)
[21:03:09] <mozmck> I wondered about that. It was enough of a pain that I didn't write it (yet) ;-)
[21:03:38] <cradek> I was looking for an example you could use, but only found
http://git.linuxcnc.org/gitweb?p=linuxcnc.git;a=commitdiff;h=123a8c91aab1ffe2fb09ae2b3ad519dac99356ca which is a per-axis thing so not a great example
[21:04:01] <cradek> but it does show all the layers you have to touch to pass the parameter into motion
[21:04:23] <mozmck> Ah - I'll look at that.
[21:05:05] <cradek> you'll probably be in initraj.cc instead of iniaxis.cc
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[21:06:05] <mozmck> I thought it looked like I'd have to do something like that.
[21:06:39] <cradek> yeah :-/
[21:06:39] <mozmck> I'll do some testing with what I have first to make sure it will do everything I need.
[21:06:44] <cradek> cool
[21:09:35] <cradek> I can't find a good example
[21:09:38] <jepler> I think my interest is finding a way to mask the probe signal for the least amount of time. making it be done in hal is secondary.
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[21:14:54] <mozmck> jepler: this patch doesn't mask the probe signal at all though, it just doesn't error if the probe trips while jogging or homing
[21:23:57] <jepler> OK, I accept that distinction.
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[21:59:26] <skunkworks> zlog:
[21:59:26] <zlog> skunkworks: Log stored at
http://tom-itx.no-ip.biz:81/~tom-itx/irc/logs/%23linuxcnc-devel/2015-12-07.html
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[22:18:46] <KGB-linuxcnc> 03Sebastian Kuzminsky 05rtai-5 209684f 06linuxcnc 10src/Makefile build system: let "make V=1" verbosify kernel module builds too * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=209684f
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[22:59:48] <linuxcnc-build> build #1573 of 4017.deb-wheezy-amd64 is complete: Failure [4failed shell_1] Build details are at
http://buildbot.linuxcnc.org/buildbot/builders/4017.deb-wheezy-amd64/builds/1573 blamelist: Sebastian Kuzminsky <seb@highlab.com>
[23:00:00] <skunkworks> seb_kuzminsky: how do you install all the dependancys easilly for linuxcnc? (say - isntalling on jessie)
[23:01:44] <seb_kuzminsky> skunkworks: cd debian; ./configure -r
[23:01:54] <seb_kuzminsky> then look in debian/control, it has the list of dependencies
[23:02:15] <skunkworks> ok - I will try that when you get the math working :)
[23:02:29] <skunkworks> no pressurfe
[23:02:32] <skunkworks> pressure even
[23:03:06] <JT-Shop> skunkworks: this may help
http://gnipsel.com/files/linuxmint/mint-emc.txt
[23:03:17] <JT-Shop> my notes on installing in linuxmint
[23:03:39] <seb_kuzminsky> or you can go balls out and build the deb and install it with apt-get, that'll pull in all dependencies
[23:03:59] <skunkworks> bla bla bla apt-get bla bla...
[23:04:11] <seb_kuzminsky> moo
[23:04:15] <skunkworks> JT-Shop: thankss
[23:04:18] <skunkworks> :)
[23:04:49] <seb_kuzminsky> JT-Shop: what's setup.sh?
[23:05:26] <JT-Shop> it gets the rtai kernel and a few things
[23:05:56] <JT-Shop> and adds the grub customizer
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[23:06:07] <JT-Shop> so it's easy to pick a start up kernel
[23:14:55] <seb_kuzminsky> cool
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[23:22:42] <JT-Shop> I did it about 4 times so pretty polished instructions
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[23:25:45] <seb_kuzminsky> i wonder how many different "how to install linuxcnc" instructions we have now
[23:25:54] <seb_kuzminsky> i think there are at least two on the wiki
[23:27:11] <JT-Shop> I'd guess you need one for each flavor of Linux
[23:28:20] <seb_kuzminsky> the differences from one debian-based distro to another should be very small, i think
[23:28:42] <seb_kuzminsky> and the trickiest part, the list of build-dependencies, is encoded in debian/control(.in)
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[23:30:45] <JT-Shop> took me a few times to get all the dependencies worked out for mint
[23:31:16] <JT-Shop> I think for a machine debian with openbox would be fine
[23:34:21] <andypugh> One thing that might be clearer on the current “how to get it page” is why you would choose RTAI or RT-PREEMPT
[23:35:12] <JT-Shop> that would be a good thing to know and uspace I think is another option