I remain very strongly opposed to rs274ngc reading HAL values directly.
Use the existing M-codes for that purpose.
The design of HAL is that components create pins, and integrators use
signals to link pins to create working systems.
This means that for example, motion doesn't have to have any knowledge
about whether a commanded position goes to stepgen.0.position-cmd
or to pid.0.input.
As implemented, HAL access from gcode appears to refer directly to *pins
created by other components*, breaking this structure. So for instance
if an integrator writes remap code which refers to
#<_hal[stepgen.0.position-cmd]> that code is not going to work on a
system which uses anything but software step generation.
I appreciate that some people feel the functionality available from
M-codes is too restricted, but this is not the right solution.
We should start with some well-motivated examples ("user stories") where
the current M-codes are not adequate, and design a new solution which
does not break the normal abstraction of HAL.
Jeff
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