On 01/12/2018 09:37 AM, Charles Steinkuehler wrote:
On 1/12/2018 8:29 AM, 'fishy' via Machinekit wrote:
I am a machinekit newbie so please make allowances for any stupidty I may
show in this question.
I want to play with kinematics and trajectory planning(I have no real
experience or knowledge in the field but would like to learn)
I have looked at the src in src/emc/kinematics (tp) and made copies out of
tree to play with.
I have done this with low level drivers and use 'comp --install' to compile
c code out of tree and it installs and runs fine when added into a hal
config.
But I try this with kinematics and tp e.g.
'bin/comp --install pathtonewtp/tp.c' -----> syntax error in VERSION script
'bin/comp --install pathtonewtp/tpmain.c' -------> compiles fine but
missing required symbols when module is loaded into hal
'bin/comp --install pathtonewkinematics/genserkins.c' -------> compiles
fine but missing required symbols when module is loaded into hal
So my question how can I get 'comp' to link in objectfiles and shared libs
so that the modules will load?
comp really isn't meant to be used for complex HAL modules like the
trajectory planner, hostmot2 driver, etc. You're better off adding
your files to the Makefile rather than using comp.
That said, you can "abuse" the comp command a bit if you just need to
use some extra libraries:
EXTRA_LDFLAGS="-lprussdrv" comp --compile file.comp
...and you can always just copy/paste the gcc command used to build
the modules when running make, edit as required for your new module
name, and drop them into a small script file. I had to do this for a
while when the comp command was broken for userspace components on the
BBB. It looked like this:
# work-around for userspace components not finding header files
comp -p --userspace BBB_listener.comp
gcc -I. -pthread -DTHREAD_FLAVOR_ID=0 -DRTAPI -D_GNU_SOURCE
-D_FORTIFY_SOURCE=0 -D__MODULE__ -I/usr/include/linuxcnc -fPIC -g
-funwind-tables -URTAPI -U__MODULE__ -DULAPI -Os -o BBB_listener
BBB_listener.c -Wl,-rpath,/usr/lib -L/usr/lib -llinuxcnchal
Is the old `Makefile.inc` still installed with packages? That generated
file is supposed to include enough stuff that it can be included in an
out-of-tree C-language component's Makefile, and (I think) you can add
your component's rules like they are in the main source tree's
`src/Makefile`. Cribbing from there, this is unlikely to work as is,
but I'd hope the basic idea would work:
# Include the build parameters
include /usr/share/linuxcnc/Makefile.inc
# Set up the module rules
obj-$(CONFIG_MYKINS) += tp.o tpmain.o
mykins-objs := tp.o tpmain.o $(MATHSTUB)
mykins$(MODULE_EXT): $(mykins-objs)
# Add the module build to a higher-level target
all: obj-$(CONFIG_MYKINS)
John
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website: http://www.machinekit.io blog: http://blog.machinekit.io github:
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