Remove the hardcoded kinematics_type_id_t enum that prevented custom

kinematics modules from working with planner type 2. Each kinematics
module now ships a <name>_userspace.so plugin loaded via dlopen at
init time, so built-in and custom modules are treated identically.

- Add kins_plugin.h defining the plugin API (kins_userspace_setup)
- Extract 17 built-in kinematics into self-contained plugin .so files
- Rewrite kinematics_user.c as a dlopen loader (~280 lines, was ~1500)
- Remove kinematics_type_id_t enum, type_id field, and dispatch switch
- Remove kins_type_id from emcmot_config_t (shared memory layout change)
- Fall back to planner type 0 if plugin .so not found

Requires make clean (shared memory struct changed).

Author: grandixximo

src/Makefile

@@ -182,7 +182,7 @@ SUBDIRS := \
     emc/usr_intf/gremlin emc/usr_intf/gscreen emc/usr_intf/pyui emc/usr_intf/qtvcp \
     emc/usr_intf/gmoccapy emc/usr_intf/qtplasmac emc/usr_intf/mdro\
     emc/usr_intf emc/nml_intf emc/task emc/kinematics emc/tp emc/canterp \
-    emc/motion emc/motion_planning emc/ini emc/rs274ngc emc/sai emc/pythonplugin \
+    emc/motion emc/motion_planning emc/kinematics_userspace emc/ini emc/rs274ngc emc/sai emc/pythonplugin \
     emc/motion-logger \
     emc/tooldata \
     emc \

src/emc/ini/initraj.cc

@@ -256,8 +256,7 @@ static int loadTraj(EmcIniFile *trajInifile)
                     return -1;
                 }
 
-                rcs_print("Detected kinematics module: %s (type_id=%d)\n",
-                          kins_module, emcmotConfig->kins_type_id);
+                rcs_print("Detected kinematics module: %s\n", kins_module);
 
                 // Get configuration from INI file
                 auto coord = trajInifile->Find("COORDINATES", "TRAJ");
@@ -268,11 +267,14 @@ static int loadTraj(EmcIniFile *trajInifile)
                 if (motion_planning::userspace_kins_init(kins_module,
                                                         joints,
                                                         coord ? coord->c_str() : "XYZ") != 0) {
-                    rcs_print_error("ERROR: Failed to initialize userspace kinematics\n");
-                    return -1;
+                    rcs_print_error("WARNING: Failed to initialize userspace kinematics for '%s'\n",
+                                    kins_module);
+                    rcs_print_error("  Falling back to PLANNER_TYPE 0 (trapezoidal)\n");
+                    planner_type = 0;
+                } else {
+                    rcs_print("Userspace kinematics initialized (module=%s, joints=%d, coords=%s)\n",
+                              kins_module, joints, coord ? coord->c_str() : "XYZ");
                 }
-                rcs_print("Userspace kinematics initialized (module=%s, joints=%d, coords=%s)\n",
-                          kins_module, joints, coord ? coord->c_str() : "XYZ");
             }
 
             // Parse 9D-specific parameters

src/emc/kinematics_userspace/Submakefile

@@ -0,0 +1,59 @@
+# Submakefile for userspace kinematics plugins
+# Each plugin is a self-contained .so loaded via dlopen by the planner
+
+INCLUDES += emc/kinematics_userspace
+
+KINS_PLUGIN_DIR := emc/kinematics_userspace/plugins
+KINS_PLUGIN_OUTDIR := ../lib/kinematics
+
+# Simple plugins (no libposemath dependency)
+KINS_SIMPLE_PLUGINS := \
+	trivkins \
+	5axiskins \
+	xyzac-trt-kins \
+	xyzbc-trt-kins \
+	maxkins \
+	tripodkins \
+	lineardeltakins \
+	rotarydeltakins \
+	rosekins \
+	corexykins \
+	rotatekins \
+	scarakins \
+	scorbot-kins
+
+# Complex plugins (need libposemath for posemath types/functions)
+KINS_POSEMATH_PLUGINS := \
+	pumakins \
+	genhexkins \
+	pentakins \
+	genserkins
+
+KINS_ALL_PLUGINS := $(KINS_SIMPLE_PLUGINS) $(KINS_POSEMATH_PLUGINS)
+
+# Register all plugin sources
+KINS_PLUGIN_SRCS := $(foreach p,$(KINS_ALL_PLUGINS),$(KINS_PLUGIN_DIR)/$(p)_userspace.c)
+USERSRCS += $(KINS_PLUGIN_SRCS)
+
+# Compile flags for all plugins
+$(call TOOBJSDEPS, $(KINS_PLUGIN_SRCS)) : EXTRAFLAGS=-fPIC -DUSERSPACE_LIB_BUILD -D_GNU_SOURCE
+
+# Build rules for simple plugins (link with -lm only)
+$(foreach p,$(KINS_SIMPLE_PLUGINS),$(eval \
+$(KINS_PLUGIN_OUTDIR)/$(p)_userspace.so: objects/$(KINS_PLUGIN_DIR)/$(p)_userspace.o ; \
+	$$(ECHO) Building kinematics plugin $$(notdir $$@) ; \
+	mkdir -p $(KINS_PLUGIN_OUTDIR) ; \
+	$$(CC) -g $$(LDFLAGS) -shared -o $$@ $$< -lm \
+))
+
+# Build rules for posemath plugins (link with -lm and libposemath)
+$(foreach p,$(KINS_POSEMATH_PLUGINS),$(eval \
+$(KINS_PLUGIN_OUTDIR)/$(p)_userspace.so: objects/$(KINS_PLUGIN_DIR)/$(p)_userspace.o ../lib/libposemath.so ; \
+	$$(ECHO) Building kinematics plugin $$(notdir $$@) ; \
+	mkdir -p $(KINS_PLUGIN_OUTDIR) ; \
+	$$(CC) -g $$(LDFLAGS) -shared -o $$@ $$< -lm -L../lib -lposemath \
+))
+
+# All plugin .so targets
+KINS_PLUGIN_TARGETS := $(foreach p,$(KINS_ALL_PLUGINS),$(KINS_PLUGIN_OUTDIR)/$(p)_userspace.so)
+TARGETS += $(KINS_PLUGIN_TARGETS)