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  • Oct 08 09:58
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evanmj
@evanmj
so, it seems like it is looking for the posix flavor maybe?
I installed with debian/configure -r
and I have libexec/rtapi_app_rt-preempt
thanks for any advice.
s/installed/compiled
zhivko
@zhivko
Try configure -rp if it says posix folder is missing.
Not sure if posix p option is mandatory
evanmj
@evanmj
Thanks, I'll give it a shot. I don't want it to run in soft real time though, so hopefully it won't make it do that...
evanmj
@evanmj
No go :( It seems to still want to run the posix flavor, but it is not installed
I'm also missing the expected RT_PREMPT in the uname output
evanmj@machinekit:~/machinekit/src$ uname -a
Linux machinekit 3.18.42-rt45 #1 SMP Tue Oct 11 00:07:22 CDT 2016 i686 GNU/Linux
Did I not get the RT Patch applied properly?
evanmj
@evanmj
I might have gotten it worked out... starting new 4.5 hour kernel compile now.
If this fixes it, I will PR the (possible) documentation change needed.
evanmj
@evanmj
Ah, it fixed it.
newer kernels, you have to go in and select the preemption level prior to compliation
zhivko
@zhivko
Great!
zhivko
@zhivko

If I want to raise max velocity for "axis 0" - is it only thing I need to change hpg.stepgen.00.maxvel or also some another parameter / signal?
I miss signals/parameters from [TRAJ] section of ini... Do I need to do that from haltalk instead through linking my pins to velocity pins?
How I do it now: I have custom parameter for max velocity for 0 axis and then this variable is linked to hpg.stepgen.00.maxvel like this:

newpin myini  myini.maxvel_0          float out 
newpin myini  myini.maxvel_0          float out

it seems this doesn't work all through since I am getting joint following error after setting hpg.stepgen.00.maxvel in that way...

zhivko
@zhivko
Oh there is: MT_EMC_TRAJ_SET_MAX_VELOCITY for [traj] seting velocity of [traj] section...
zhivko
@zhivko
Hey guys!
I wanna use #include <string> in icomp... and I get:
Compiling realtime udp.c
./components/udp.icomp:26:18: fatal error: string: No such file or directory
compilation terminated.
I want to split my custom parameters by "=" separator in:
loadrt udp count=1 ip=192.168.1.115 port=1234
Any c guru here ?
Bas de Bruijn
@luminize
no c guru, but I think there's no support for that for instcomp. http://www.machinekit.io/docs/hal/instcomp/#instanceparams
that means you'll have to write one in C
ArcEye
@ArcEye

Try loadrt udp count=1 --- ip=192.168.1.115 port=1234

Then in your .icomp file use option extra_inst_setup yes`
http://www.machinekit.io/docs/hal/instcomp/#options

You should then be able to access the extra args before entering the user_mainloop() from the argc, argv passed to the extra_inst_setup() function
ie. static int extra_inst_setup(struct inst_data* ip, const char *name, int argc, const char**argv)

As far as #include <string> goes, that is a C++ header std::string, do you have it installed?

zhivko
@zhivko
Oh Hi! @ArcEye good to see you here in this chat room
I was chatting in #linuxcnc...
And made some progress
Now I know I would need to have UDP server in my component that will listen for UDP client that sends data (actuallaser sensor sending distance).
BUT...
trying to instcomp i get:
machinekit@beaglebone:~$ instcomp --install ./components/udp.icomp
Compiling realtime udp.c
Linking udp.so
cp udp.so /home/machinekit/git/machinekit/rtlib/xenomai/
machinekit@beaglebone:~$ instcomp --install ./components/udp.icomp
Compiling realtime udp.c
./components/udp.icomp: In function ‘threadFunc’:
udp.c:166:19: error: expected ‘)’ before ‘->’ token
 #define sockfd (ip->sockfd)
                   ^
./components/udp.icomp:55:7: note: in expansion of macro ‘sockfd’
udp.c:166:17: error: ‘ip’ undeclared (first use in this function)
 #define sockfd (ip->sockfd)
                 ^
./components/udp.icomp:69:3: note: in expansion of macro ‘sockfd’
udp.c:166:17: note: each undeclared identifier is reported only once for each function it appears in
 #define sockfd (ip->sockfd)
                 ^
./components/udp.icomp:69:3: note: in expansion of macro ‘sockfd’
/home/machinekit/git/machinekit/src/Makefile.modinc:123: recipe for target 'udp.o' failed
make: *** [udp.o] Error 1
machinekit@beaglebone:~$ instcomp --install ./components/udp.icomp
Compiling realtime udp.c
./components/udp.icomp: In function ‘threadFunc’:
udp.c:166:19: error: expected ‘)’ before ‘->’ token
 #define sockfd (ip->sockfd)
                   ^
./components/udp.icomp:55:7: note: in expansion of macro ‘sockfd’
udp.c:166:17: error: ‘ip’ undeclared (first use in this function)
 #define sockfd (ip->sockfd)
                 ^
./components/udp.icomp:69:3: note: in expansion of macro ‘sockfd’
udp.c:166:17: note: each undeclared identifier is reported only once for each function it appears in
 #define sockfd (ip->sockfd)
                 ^
./components/udp.icomp:69:3: note: in expansion of macro ‘sockfd’
/home/machinekit/git/machinekit/src/Makefile.modinc:123: recipe for target 'udp.o' failed
make: *** [udp.o] Error 1
ArcEye
@ArcEye
Without seeing the code, no way to tell. Runinstcomp udp.icomp and post the .c file it produces.
You are obviously not copying the inst_struct to ip.
zhivko
@zhivko
here it is:
a
ah
this is old one
.c is not even produced
oh sorry
here it is again:
zhivko
@zhivko
If I delete body of void threadFunc(void arg) - than it is compiled OK...
Bas de Bruijn
@luminize
:point_up: October 21, 2016 4:14 PM ah, should have read further
zhivko
@zhivko
@luminize thanks - I got this solved before... I am step further I think
I mean hal comp instantiation...
I have problem compiling icomp now.
It blews when it gets to:
sockfd = socket(AF_INET, SOCK_DGRAM, 0);
ArcEye
@ArcEye
There are all sorts of things
The main one is probably that #define sockfd (ip->sockfd) appears above your function, but then you use the same name for a local variable in your threadFunc()
You also have pincount=6, but there are no arrays of pins with pincount as the index, so that is meaningless.
zhivko
@zhivko
Thanks im in car now. Will check when im back ...