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component userkins"Template for user-built kinematics";
description
"""
.if \\n[.g] .mso www.tmac
The userkins.comp file is a template for creating
kinematics that can be user-built using halcompile.
The unmodified userkins component can be used
as a kinematics file for a machine with identity
kinematics for an xyz machine employing 3 joints
(motors).
\\fBUSAGE:\\fR
1) Copy the userkins.comp file to a user-owned
directory (\\fBmydir\\fR).
Note: The userkins.comp file can be downloaded from:
.URL https://github.com/LinuxCNC/linuxcnc/raw/2.8/src/hal/components/userkins.comp
where '2.8' is the branch name (use 'master' for
the master branch)
For a RIP (run-in-place) build, the file is located in
the git tree as:
src/hal/components/userkins.comp
2) Edit the functions kinematicsForward() and
kinematicsInverse() as required
3) If required, add hal pins following examples in
the template code
4) Build and install the component using halcompile:
$ cd \\fBmydir\\fR
$ [sudo] halcompile --install userkins.comp
# Note:
# sudo is required when using a deb install
# sudo is \\fBnot\\fR required for run-in-place builds
# $ man halcompile for more info
5) Specify userkins in an ini file as:
\\fB[KINS]\\fR
\\fBKINEMATICS=userkins\\fR
\\fBJOINTS=3\\fR
# the number of JOINTS must agree with the
# number of joints used in your modified userkins.comp
6) Note: the manpage for userkins is not updated by
halcompile --install
7) To use a different component name, rename the file
(example mykins.comp) and change all instances of
'userkins' to 'mykins'
\\fBNOTES:\\fR
1 The \\fBfpin\\fR pin is included to satisfy the requirements of
the halcompile utility but it is not accessible to kinematics
functions.
2 Hal pins and parameters needed in kinematics functions
(kinematicsForward(), kinematicsInverse()) must
be setup in a function (\\fBuserkins_setup()\\fR) invoked
by the initial motion module call to kinematicsType().
""";
// The fpin pin is not accessible in kinematics functions.
// Use the *_setup() function for pins and params used by kinematics.
pin out s32 fpin=0"pin to demonstrate use of a conventional (non-kinematics) function fdemo";
function fdemo;
license "GPL";
author "Dewey Garrett";
;;
#include "rtapi_math.h"
#include "kinematics.h"
static struct haldata {
// Example pin pointers
hal_u32_t *in;
hal_u32_t *out;
// Example parameters
hal_float_t param_rw;
hal_float_t param_ro;
} *haldata;
// hal pin/param types:
// hal_bit_t bit
// hal_u32_t unsigned 32bit integer
// hal_s32_t signed 32bit integer
// hal_float_t float (double precision)
FUNCTION(fdemo) {
// This function can be added to a thread (addf) for
// purposes not related to the kinematics functions.
if (fpin == 0) {
rtapi_print("fdemo function added to thread\n");
}
fpin++;
}
static int userkins_setup(void) {
#define HAL_PREFIX "userkins"
int res=0;
// inherit comp_id from rtapi_main()
if (comp_id < 0) goto error;
// set unready to allow creation of pins
if (hal_set_unready(comp_id)) goto error;
haldata = hal_malloc(sizeof(struct haldata));
if (!haldata) goto error;
// hal pin examples:
res += hal_pin_u32_newf(HAL_IN ,&(haldata->in) ,comp_id,"%s.in" ,HAL_PREFIX);
res += hal_pin_u32_newf(HAL_OUT,&(haldata->out),comp_id,"%s.out",HAL_PREFIX);
// hal parameter examples:
res += hal_param_float_newf(HAL_RW, &haldata->param_rw,comp_id,"%s.param-rw",HAL_PREFIX);
res += hal_param_float_newf(HAL_RO, &haldata->param_ro,comp_id,"%s.param-ro",HAL_PREFIX);
if (res) goto error;
hal_ready(comp_id);
rtapi_print("*** %s setup ok\n",__FILE__);
return 0;
error:
rtapi_print("\n!!! %s setup failed res=%d\n\n",__FILE__,res);
return -1;
#undef HAL_PREFIX
}
KINS_NOT_SWITCHABLE
// see millturn.comp for example of switchable kinematics
EXPORT_SYMBOL(kinematicsType);
EXPORT_SYMBOL(kinematicsInverse);
EXPORT_SYMBOL(kinematicsForward);
KINEMATICS_TYPE kinematicsType()
{
static bool is_setup=0;
if (!is_setup) userkins_setup();
return KINEMATICS_IDENTITY; // set as required
// Note: If kinematics are identity, using KINEMATICS_BOTH
// may be used in order to allow a gui to display
// joint values in preview prior to homing
} // kinematicsType()
static bool is_ready=0;
int kinematicsForward(const double *j,
EmcPose * pos,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
static bool gave_msg;
// [KINS]JOINTS=3
pos->tran.x = j[0]; // X coordinate
pos->tran.y = j[1]; // Y coordinate
pos->tran.z = j[2]; // Z coordinate
// unused coordinates:
pos->a = 0;
pos->b = 0;
pos->c = 0;
pos->u = 0;
pos->v = 0;
pos->w = 0;
if (*haldata->in && !is_ready && !gave_msg) {
rtapi_print_msg(RTAPI_MSG_ERR,
"%s The 'in' pin not echoed until Inverse called\n",
__FILE__);
gave_msg=1;
}
return 0;
} // kinematicsForward()
int kinematicsInverse(const EmcPose * pos,
double *j,
const KINEMATICS_INVERSE_FLAGS * iflags,
KINEMATICS_FORWARD_FLAGS * fflags)
{
is_ready = 1; // Inverse is not called until homed for KINEMATICS_BOTH
// Update the kinematic joints specified by the
// [KINS]JOINTS setting (3 required for this template).
// Maximum number of joints is defined in include file:
// emcmotcfg:EMCMOT_MAX_JOINTS (typ 16)
// Some joints may be claimed as 'extrajoints' and
// do not participate in kinematics calculations --
// $ man motion for more info
j[0] = pos->tran.x; // joint 0
j[1] = pos->tran.y; // joint 1
j[2] = pos->tran.z; // joint 2
//example hal pin update (homing reqd before kinematicsInverse)
*haldata->out = *haldata->in; //dereference
//read from param example: *haldata->out = haldata->param_rw;
return 0;
} // kinematicsInverse()
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