IMO, it's a feature that the most basic sim configurations don't require
a base thread.
On my system (2.8GHz AMD), rtapi_app takes ~1% CPU before the change and
about 6% after. Admittedly 6% isn't much, but it's worse than 1%.
Perhaps we should write a simulated spindle that can work without
requiring a base thread.
Here's a first stab at this. I looked at some traces in halscope but
didn't try any simulated rigid tapping.
// ---------------------------------------------------------------------
component sim_spindle "Simulated spindle with index pulse";
pin in float velocity-cmd "Commanded speed, in revolutions per second";
pin out float position-fb "Feedback position, in revolutions";
pin io bit index-enable "Reset position-fb to 0 at the next full rotation";
license "GPL";
function _;
;;
#include <rtapi_math.h>
FUNCTION(_) {
double old_position = position;
double new_position = position + speed * fperiod;
if(index_enable && (floor(old_position) != floor(new_position))) {
index_enable = false;
if(speed < 0)
new_position = new_position - ceil(new_position);
else
new_position = new_position - floor(new_position);
}
position = new_position;
}
// ---------------------------------------------------------------------
Jeff
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