fix include paths in motion_planning: use relative ../tp/ and motion/ prefixes

Flat includes of tc_types.h, tc.h, tp.h, tp_types.h and motion.h fail when
motion_planning headers are included from directories without -Iemc/tp or
-Iemc/motion in their compile flags (e.g. emc/ini/).

Use "../tp/" and "motion/" qualified paths throughout, consistent with
the upstream three-tier include ethos.

Author: grandixximo

src/emc/motion_planning/bezier9.cc

@@ -1,5 +1,5 @@
 #include "bezier9.h"
-#include "tp_types.h"
+#include "../tp/tp_types.h"
 #include "../tp/tp_debug.h"
 #include "posemath.h"
 #include "blendmath.h"

src/emc/motion_planning/blend_sizing.cc

@@ -14,9 +14,9 @@
 #include "blend_sizing.h"
 
 extern "C" {
-#include "tp_types.h"
+#include "../tp/tp_types.h"
 #include "../tp/tp_debug.h"
-#include "tc.h"
+#include "../tp/tc.h"
 #include "blendmath.h"
 #include "emcpose.h"
 #include "rtapi_math.h"

src/emc/motion_planning/blend_sizing.h

@@ -15,7 +15,7 @@
 
 #include "posemath.h"
 #include "emcpos.h"
-#include "tc_types.h"
+#include "../tp/tc_types.h"
 #include "bezier9.h"
 
 #ifdef __cplusplus

src/emc/motion_planning/motion_planning_9d.cc

@@ -19,9 +19,9 @@
 
 #include "motion_planning_9d.hh"
 #include "smoothing_data.hh"
-#include "motion.h"           // For emcmot_status_t (must be before tp.h)
-#include "tc.h"
-#include "tp.h"
+#include "motion/motion.h"    // For emcmot_status_t (must be before tp.h)
+#include "../tp/tc.h"
+#include "../tp/tp.h"
 #include "../motion/atomic_9d.h"
 #include "posemath.h"
 #include "rtapi.h"            // For rtapi_print_msg

src/emc/motion_planning/motion_planning_9d.hh

@@ -24,8 +24,8 @@
 #define MOTION_PLANNING_9D_HH
 
 #include "posemath.h"
-#include "tc_types.h"
-#include "tp_types.h"
+#include "../tp/tc_types.h"
+#include "../tp/tp_types.h"
 
 #include <cstddef>
 #include <vector>

src/emc/motion_planning/motion_planning_9d_userspace.cc

@@ -21,10 +21,10 @@
 
 // C headers need extern "C" when included from C++
 extern "C" {
-#include "motion.h"     // emcmot_status_t, emcmot_config_t (needed before tp.h)
-#include "tp.h"
-#include "tc.h"
-#include "tc_types.h"
+#include "motion/motion.h"  // emcmot_status_t, emcmot_config_t (needed before tp.h)
+#include "../tp/tp.h"
+#include "../tp/tc.h"
+#include "../tp/tc_types.h"
 #include "emcpos.h"
 #include "emcpose.h"    // pmCartesianToEmcPose
 #include "posemath.h"

src/emc/motion_planning/path_sampler.cc

@@ -16,7 +16,7 @@
 
 extern "C" {
 #include "blendmath.h"  // For pmCircleAngleFromProgress, pmCirclePoint
-#include "tc.h"         // For pmCircle9Target, pmCartLinePoint
+#include "../tp/tc.h"   // For pmCircle9Target, pmCartLinePoint
 #include "bezier9.h"    // For bezier9Point, bezier9Length
 }
 

src/emc/motion_planning/path_sampler.hh

@@ -21,7 +21,7 @@
 
 extern "C" {
 #include "kinematics_userspace/kinematics_user.h"
-#include "tc_types.h"  // For PmCircle9
+#include "../tp/tc_types.h"  // For PmCircle9
 }
 
 namespace motion_planning {

src/emc/motion_planning/userspace_kinematics.hh

@@ -23,7 +23,7 @@
 #include "joint_limits.hh"
 
 // tc_types.h and emcpos.h include posemath.h which has C++ overloads
-#include "tc_types.h"
+#include "../tp/tc_types.h"
 #include "emcpos.h"
 
 namespace motion_planning {