Lcnc 2.10 -- halcompile for kins

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30 Oct 2023 09:08 #284106 by bkt
so now not try to install my kins ... only modify scarakins and compile again linuxcnc-dev run in place install ..... after copy scarakins.so on usr/linuxcnc/module ..... in these way i have my app starting but ... surprize .... I have these error:
testPc@mark28:~$ /usr/bin/linuxcnc '/home/testPc/linuxcnc/configs/scaraSwitch.cld/scaraSwitchTest.ini'
LINUXCNC - 2.10.0~pre0
Machine configuration directory is '/home/testPc/linuxcnc/configs/scaraSwitch.cld'
Machine configuration file is 'scaraSwitchTest.ini'
check_config: Unchecked: [KINS]KINEMATICS={scarakins coordinates=xyzabc}
Starting LinuxCNC...
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
task: machine: 'SCARA-JA-switch'  version 'unknown'
emc/task/taskclass.cc 168: can't load tool table.
Found file(REL): ./scaraSwitchTest.hal
creating ladder-state
motmod: dlopen: /usr/lib/linuxcnc/modules/motmod.so: undefined symbol: kinematicsSwitch
./scaraSwitchTest.hal:17: waitpid failed /usr/bin/rtapi_app motmod
./scaraSwitchTest.hal:17: /usr/bin/rtapi_app exited without becoming ready
./scaraSwitchTest.hal:17: insmod for motmod failed, returned -1
Shutting down and cleaning up LinuxCNC...
USRMOT: ERROR: command 30 timeout
emcMotionInit: emcTrajInit failed
Note: Using POSIX realtime
LinuxCNC terminated with an error.  You can find more information in the log:
    /home/testPc/linuxcnc_debug.txt
and
    /home/testPc/linuxcnc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal

if put loadrt scarakins after EMCMOT loadrt .... but if try at inverse order the error become:
testPc@mark28:~$ /usr/bin/linuxcnc '/home/testPc/linuxcnc/configs/scaraSwitch.cld/scaraSwitchTest.ini'
LINUXCNC - 2.10.0~pre0
Machine configuration directory is '/home/testPc/linuxcnc/configs/scaraSwitch.cld'
Machine configuration file is 'scaraSwitchTest.ini'
check_config: Unchecked: [KINS]KINEMATICS={scarakins coordinates=xyzabc}
Starting LinuxCNC...
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
task: machine: 'GC-SCARA-JA-switch'  version 'unknown'
emc/task/taskclass.cc 168: can't load tool table.
Found file(REL): ./scaraSwitchTest.hal

!!! switchkins-type 0 is scarakins

userkKinematicsSetup:
   emc/kinematics/userkfuncs.c <xyzabc> max_joints=6 allow_duplicates=0

creating ladder-state
Init tmp dir=/tmp/classicladder_tmp_Q0gLWs
Gtk-Message: 10:06:20.580: GtkDialog mapped without a transient parent. This is discouraged.
ManagerDisplaySections(): init...
ManagerDisplaySections(): added Prog1...
select... before=-1 scan=0
USRMOT: ERROR: command 30 timeout
emcMotionInit: emcTrajInit failed
void MainWindow::changeUserGui() hey ci sono ...  6
void MainWindow::changeUserGui() questa è finita ...  6
int set_pin_FLOAT_calc(float, QString) sig  velControl  is not writable or not exist ... type is:   "ERROR"   and (sig>0 no good) sig->writers =    1
int set_pin_FLOAT_calc(float, QString) sig  eJogSpeed  is not writable or not exist ... type is:   "ERROR"   and (sig>0 no good) sig->writers =    2
MainWindow::MainWindow(QWidget*) controlliamo stato cnc ...  0x55a32defb860
/usr/bin/linuxcnc: riga 957: 17838 Errore di segmentazione (core dump creato) $EMCDISPLAY -ini "$INIFILE" $EMCDISPLAYARGS $EXTRA_ARGS
Shutting down and cleaning up LinuxCNC...
task: 0 cycles, min=0.000005, max=0.013697, avg=-1.000000, 0 latency excursions (> 10x expected cycle time of 0.010000s)
INFO CLASSICLADDER- GUI scala chiusa. Esecuzioni in tempo reale fino alla chiusura dell'HAL
scale: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
mult2: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
sum2: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1

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30 Oct 2023 09:44 #284109 by andypugh
Does the run-in-place version run?
And do both versions run wuth an unmodified kins (trivkins, for example)

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30 Oct 2023 10:21 - 30 Oct 2023 19:39 #284111 by bkt
Axis gui works but my c++ gui shows some pins not writable when they should be....I think that's why my c gui throws these errors....think about these one (previous error become from my terminal, when try to launch QT myapp gui):
int set_pin_FLOAT_calc(float, QString) sig  velControl  is not writable or not exist ... type is:   "ERROR"   and (sig>0 no good) sig->writers =    1
int set_pin_FLOAT_calc(float, QString) sig  eJogSpeed  is not writable or not exist ... type is:   "ERROR"   and (sig>0 no good) sig->writers =    2

thse still valid ....

all other part of post is cancell because erroneus consideration ...



 
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Last edit: 30 Oct 2023 19:39 by bkt.

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30 Oct 2023 10:49 - 30 Oct 2023 19:37 #284115 by bkt
think problem maybe located here ..... 

File Attachment:

File Name: sendFloatVal.txt
File Size:2 KB
 

these code read 2.8Lcnc and 2.9 2020 Lcnc (dev version not master one) .... and now seems not capable to write float signal like attachment on previous post ....but just try other things .... see hal_cmd_20a1 not found!!!! (--- whit axis gui ---)there are some other that no go .... 

just try axis gui with .deb package install and run in place install ... same result ... motor go and all works ok.

So only things not go is my app ..... I have some problem with carpenter.so .... but not sure these causes that problem ...

actually when start Axis Gui from terminal obtain these error:
testPc@mark28:~$ linuxcnc
LINUXCNC - 2.10.0~pre0
Machine configuration directory is '/home/testPc/linuxcnc/configs/KeepTestC.cld'
Machine configuration file is 'keepTest.ini'
check_config: Unchecked: [KINS]KINEMATICS={scarakins coordinates=xyzc}
Starting LinuxCNC...
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
task: machine: 'GC-SCARA-JA-switch'  version 'unknown'
emc/task/taskclass.cc 168: can't load tool table.
Found file(REL): ./TESTkeepTest.hal

!!! switchkins-type 0 is scarakins

identityKinematicsSetup: coordinates:xyzc
   Joint 0 ==> Axis X
   Joint 1 ==> Axis Y
   Joint 2 ==> Axis Z
   Joint 3 ==> Axis C


userkKinematicsSetup:
   emc/kinematics/userkfuncs.c <xyzc> max_joints=4 allow_duplicates=0

creating ladder-state
Init tmp dir=/tmp/classicladder_tmp_FM2qD0
Gtk-Message: 20:33:23.078: GtkDialog mapped without a transient parent. This is discouraged.
ManagerDisplaySections(): init...
ManagerDisplaySections(): added Prog1...
select... before=-1 scan=0
USRMOT: ERROR: command 30 timeout
emcMotionInit: emcTrajInit failed
note: MAXV     max: 280.000 units/sec 16800.000 units/min
note: LJOG     max: 280.000 units/sec 16800.000 units/min
note: LJOG default: 5.000 units/sec 300.000 units/min
note: AJOG     max: 90.000 units/sec 5400.000 units/min
note: AJOG default: 30.000 units/sec 1800.000 units/min
waiting for s.joints<0>, s.kinematics_type<0>
waiting for s.joints<0>, s.kinematics_type<0>
waiting for s.joints<0>, s.kinematics_type<0>
waiting for s.joints<0>, s.kinematics_type<0>
waiting for s.joints<0>, s.kinematics_type<0>
waiting for s.joints<0>, s.kinematics_type<0>
waiting for s.joints<0>, s.kinematics_type<0>
note: jog_order='XYZC'
note: jog_invert=set()


USRMOT: ERROR: command 30 timeout
emcMotionInit: emcTrajInit failed

these one is not know .... do I have to worry?
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Last edit: 30 Oct 2023 19:37 by bkt.

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17 Nov 2023 13:08 #285740 by andypugh
There is a known race condition in 2.10, this might be causing the "command 30 timeout"

github.com/LinuxCNC/linuxcnc/issues/2700
The following user(s) said Thank You: bkt

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19 Nov 2023 17:53 #285927 by bkt
thnks .. actually switch to 2.9.1 that have not that problem .... I investigate more during snow holiday when try to upgrade to debian .... and try to upgrade at to newest kernel


regards

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