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component tpcomp"Trajectory Planning (tp) module skeleton";
// NOTE: component name must agree with filename
description """
Example of a trajectory planning (tp) module buildable with
halcompile.
The tpcomp.comp file (src/hal/components/tpcomp.comp)
illustrates a method to use halcompile to build a
trajectory planning module based on the files used for the
default trajectory planner (\\fBtpmod\\fR).
The example tpcomp.comp is not usable until modified
for the user environment. To create a runnable tpcomp
module, the tpcomp.comp file must be edited to supply 1) a
valid '#define TOPDIR' and 2) references to valid source
code file names for all files used.
To avoid updates that overwrite tpcomp.comp, best practice is
to rename the file and its component name (example:
\\fBuser_tpcomp.comp\\fR creates module: \\fBuser_tpcomp\\fR).
The (renamed) component can be built and installed with
halcompile and then substituted for the default tp module
(\\fBtpmod\\fR) using:\n
$ linuxcnc \\fB-t user_tpcomp\\fR someconfig.ini\n
or by inifile setting: \\fB[TRAJ]TPMOD=user_tpcomp\\fR
\\fBNote:\\fRIf using a deb install:\n
1) halcompile is provided by the deb package linuxcnc-dev\n
2) This source file for BRANCHNAME (master,2.9,etc) is downloadable from github:\n
https://github.com/LinuxCNC/linuxcnc/blob/BRANCHNAME/src/hal/components/tpcomp.comp
""";
pin out bit is_module=1; //one pin is required to use halcompile)
license "GPL";
author "Dewey Garrett";
option tpmod;
option extra_setup;
;;
//=====================================================================
/* To use trajectory planner (tp) files from a local git src tree:
** set TOPDIR to the git src tree top directory
** (Edit 'myname' as required)
*/
//#define TOPDIR /home/myname/linuxcnc-dev
#ifdef TOPDIR // {
/* To use a modified file from the src tree substitute as reqd.
** Example (comment out standard file, add new one):
** // #include USE_TOPDIR(src/emc/tp/tp.c)
** #include "somepath/mymodified_tp.c
*/
#define STR(s) #s
#define XSTR(s) STR(s)
#define USE_TOPDIR(b) XSTR(TOPDIR/b)
#include USE_TOPDIR(src/emc/tp/tp.c)
#include USE_TOPDIR(src/emc/tp/tc.c)
#include USE_TOPDIR(src/emc/tp/tcq.c)
#include USE_TOPDIR(src/emc/tp/spherical_arc.c)
#include USE_TOPDIR(src/emc/tp/blendmath.c)
#include USE_TOPDIR(src/emc/nml_intf/emcpose.c)
#include USE_TOPDIR(src/libnml/posemath/_posemath.c)
#include USE_TOPDIR(src/libnml/posemath/sincos.c)
#else
#error No TOPDIR defined, skeleton component provides no trajectory planning functions.
#endif // }
//=====================================================================
// Example module parameters (RTAPI_MP_STRING,RTAPI_MP_INT,...)
// that can be passed to custom tp files
static char *tp_parms;
RTAPI_MP_STRING(tp_parms,"Example tp parms");
// rtapi_app_main() supplied by halcompile
// EXTRA_SETUP is executed before rtapi_app_main()
EXTRA_SETUP() {
if (!tp_parms) {tp_parms="no_tp_parms";}
rtapi_print("@@@%s:%s: tp_parms=%s\n",__FILE__,__FUNCTION__,tp_parms);
rtapi_print("\n@@@%s: TOPDIR=%s\n",__FILE__,XSTR(TOPDIR));
return 0;
}
#undef USE_TOPDIR
#undef XSTR
#undef STR
#undef TOPDIR
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