There are three things that I would like to see in 2.10, only one of
which is likely to be uncontentious.
1) Convert all int HAL pins to 64-bit.
This has to go in 2.10, if it happens at all. Master currently
supports both 64-bit and 32-bit int HAL pins. Once
that is released I believe it is too late to wind it back.
If it is done now it ought to be almost invisible, and all
existing HAL files should still work.
Initially the hal_pin_new_s32 and u32 function calls will be
retained, but will create 64-bit pins, and warn that
hal_pin_signed / unsigned should now be used.
In a development branch all .comp files in-tree have been updated
(.comp always did say to use signed/unsigned.
I think jeper foresaw this.)
One fly in the ointment is Gladevcp (and possibly other VCPs)
which specifically name the pins as _u32 / _s32.
These would simply become 64-bit, and would still join the hal
nets, but can't have their names changed as this
would break existing HAL files UNLESS the update-ini script is
expanded to change the pin names in HAL files.
(Some of this has already been done:
https://github.com/LinuxCNC/linuxcnc/blob/andypugh/long_hal_ints/src/emc/ini/update_ini.py#L553)
2) Do away with HAL parameters. Convert them all to full pins.
In theory using parameters saves HAL shared memory as they are
meant to live in normal memory. In practice
nearly every HAL component puts both pins and parameters in HAL
shared memory, so this advantage is
not realised. René has a branch in which this has been done.
3) Incorporate the 9-axis blending TP from Tormach Pathpilot.
I have the code, and have even tried just dropping it in.
https://github.com/LinuxCNC/linuxcnc/compare/master...Tormach_9_axis
It's obviously not going to work like that. If anyone wants to
look at making it all work, that would be great :-)
That PR serves the purpose of showing what has changed and where.
I don't know if it's a good place to
start actually merging though.
--
atp
"A motorcycle is a bicycle with a pandemonium attachment and is
designed for the especial use of mechanical geniuses, daredevils and
lunatics."
— George Fitch, Atlanta Constitution Newspaper, 1912
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