Merge remote-tracking branch 'origin/master' into jepler/master/halcmd-cplusplus

Author: jepler

.github/workflows/ci.yml

@@ -1,6 +1,8 @@
 # po4a Version 0.57 in ubuntu 20 do not write translated adoc as
-# UTF-8.  Need at least version 0.62 to fix it.  Using version 0.66 to
-# also get fix for empty asciidoc table cells.
+# UTF-8.  Need at least version 0.62 to fix it.
+# Motivations to update:
+#   0.66 to also get fix for empty asciidoc table cells.
+#   0.67 for hard newlines ( +\n) in paragraphs
 name: Build CI
 
 on:
@@ -28,8 +30,8 @@ jobs:
       run: |
         ./scripts/travis-install-build-deps.sh
         sudo apt-get install -y eatmydata
-        curl -O http://snapshot.debian.org/archive/debian/20220102T084145Z/pool/main/p/po4a/po4a_0.66-1_all.deb
-        sudo dpkg -i po4a_0.66-1_all.deb
+        curl -O https://snapshot.debian.org/archive/debian/20220716T154603Z/pool/main/p/po4a/po4a_0.67-2_all.deb
+        sudo apt install ./po4a_0.67-2_all.deb
         cd src
         eatmydata ./autogen.sh
         eatmydata ./configure --with-realtime=uspace --disable-check-runtime-deps
@@ -53,8 +55,8 @@ jobs:
       run: |
         ./scripts/travis-install-build-deps.sh
         sudo apt-get install -y eatmydata
-        curl -O http://snapshot.debian.org/archive/debian/20220102T084145Z/pool/main/p/po4a/po4a_0.66-1_all.deb
-        sudo dpkg -i po4a_0.66-1_all.deb
+        curl -O https://snapshot.debian.org/archive/debian/20220716T154603Z/pool/main/p/po4a/po4a_0.67-2_all.deb
+        sudo apt install ./po4a_0.67-2_all.deb
         cd src
         eatmydata ./autogen.sh
         eatmydata ./configure --with-realtime=uspace --disable-check-runtime-deps --enable-build-documentation=html
@@ -80,12 +82,26 @@ jobs:
         git fetch --recurse-submodules=no https://github.com/linuxcnc/linuxcnc refs/tags/*:refs/tags/*
         ./scripts/travis-install-build-deps.sh
         sudo apt-get install -y eatmydata
-        curl -O http://snapshot.debian.org/archive/debian/20220102T084145Z/pool/main/p/po4a/po4a_0.66-1_all.deb
-        sudo dpkg -i po4a_0.66-1_all.deb
+        curl -O https://snapshot.debian.org/archive/debian/20220716T154603Z/pool/main/p/po4a/po4a_0.67-2_all.deb
+        sudo apt install ./po4a_0.67-2_all.deb
         codename=$(lsb_release -cs)
         dch --maintmaint --distribution $codename "GitHub test package."
         eatmydata debian/configure
         eatmydata debuild -us -uc
         sudo apt-get install ../*.deb
-        eatmydata ./scripts/runtests -p tests/
-        eatmydata lintian --info --display-info --pedantic --display-experimental ../*.deb
+        ./scripts/runtests -p tests/
+        eatmydata lintian --info --display-info --pedantic --display-experimental ../linuxcnc*.changes
+        mkdir built-debs
+        cp ../linuxcnc*_* built-debs/
+    - name: Archive generated PDF files
+      uses: actions/upload-artifact@v3
+      with:
+        name: PDFs
+        retention-days: 7
+        path: docs/*.pdf
+    - name: Archive generated Debian packages
+      uses: actions/upload-artifact@v3
+      with:
+        name: debs
+        retention-days: 7
+        path: built-debs/*

TODO

@@ -2,7 +2,7 @@ TODO for the joints_axes branch
 
 * clean up joints/axes throughout the whole code (lots of parts already done)
 * define a unified jogging way (both for joints and axes)
-* implement joint-limits for carthesian moves (requires simulating the speed in userspace)
+* implement joint-limits for cartesian moves (requires simulating the speed in userspace)
 * update configs
 (and many other probably..)
 

configs/attic/demo_mazak/demo_mazak.ini

@@ -103,7 +103,7 @@ MAX_LINEAR_ACCELERATION = 20.0
 
 [EMCIO]
 # change tools in the upper left corner of the table
-# to avoid hitting the vise or workpiece with the tool
+# to avoid hitting the vice or workpiece with the tool
 TOOL_CHANGE_POSITION = -13.75 7.5 -0.022
 # Name of IO controller program, e.g., io
 EMCIO =     io

configs/by_machine/qtplasmac/machine.tcl

@@ -19,7 +19,10 @@ loadrt hypot names=sim:hyp_xy,sim:hyp_xyz
 # ---THREAD LINKS---
 addf motion-command-handler servo-thread
 addf motion-controller servo-thread
-addf plasmac servo-thread
+# don't add the plasmac component if it already exists
+if {[hal list pin plasmac.mode] == {}} {
+    addf plasmac servo-thread
+}
 for {set jnum 0} {$jnum < $numJoints} {incr jnum} {
     addf sim:${jnum}_pid.do-pid-calcs servo-thread
     addf sim:${jnum}_mux servo-thread

configs/by_machine/qtplasmac/sim_no_stepgen.tcl

@@ -68,14 +68,9 @@ net sim:tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepa
 
 # ---ESTOP HANDLING---
 loadrt or2 names=estop_or
-loadrt not names=estop_not
-addf estop_or      servo-thread
-addf estop_not servo-thread
-net sim:estop-raw estop_or.out estop_not.in
-net sim:estop-out estop_not.out iocontrol.0.emc-enable-in
-if {$::QTPLASMAC(ESTOP_TYPE) == 2} {
-    loadrt not names=estop_not_1
-    addf estop_not_1 servo-thread
-    net sim:estop-1-raw iocontrol.0.user-enable-out => estop_not_1.in
-    net sim:estop-1-in  estop_not_1.out             => estop_or.in1
-}
+loadrt not names=estop_not,estop_not_1
+addf estop_or    servo-thread
+addf estop_not   servo-thread
+addf estop_not_1 servo-thread
+net sim:estop-raw estop_or.out  => estop_not.in
+net sim:estop-out estop_not.out => iocontrol.0.emc-enable-in

configs/by_machine/qtplasmac/sim_stepgen.tcl

@@ -50,23 +50,18 @@ addf db_breakaway servo-thread
 addf db_arc-ok    servo-thread
 
 # ---Z JOINT CONNECTION---
-net plasmac:axis-position joint.${z-axis}.pos-fb  => plasmac.axis-z-position
+net plasmac:axis-position joint.${z-axis}.pos-fb => plasmac.axis-z-position
 
 # ---TOOL CHANGE PASSTHROUGH
 net sim:tool-number                                    <= iocontrol.0.tool-prep-number
-net sim:tool-change-loopback iocontrol.0.tool-change   => iocontrol.0.tool-changed
+net sim:tool-change-loopback  iocontrol.0.tool-change  => iocontrol.0.tool-changed
 net sim:tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
 
 # ---ESTOP HANDLING---
 loadrt or2 names=estop_or
-loadrt not names=estop_not
-addf estop_or servo-thread
-addf estop_not servo-thread
+loadrt not names=estop_not,estop_not_1
+addf estop_or    servo-thread
+addf estop_not   servo-thread
+addf estop_not_1 servo-thread
 net sim:estop-raw estop_or.out  => estop_not.in
 net sim:estop-out estop_not.out => iocontrol.0.emc-enable-in
-if {$::QTPLASMAC(ESTOP_TYPE) == 2} {
-    loadrt not names=estop_not_1
-    addf estop_not_1 servo-thread
-    net sim:estop-1-raw iocontrol.0.user-enable-out => estop_not_1.in
-    net sim:estop-1-in  estop_not_1.out             => estop_or.in1
-}

configs/sim/axis/moveoff/moveoff_display_7.xml

@@ -1,6 +1,6 @@
 <?xml version='1.0' encoding='UTF-8'?>
 <!-- this is an example, the values are not
-likelly to be suitable for a real machine
+likely to be suitable for a real machine
 -->
 <pyvcp>
   <vbox>

configs/sim/axis/orphans/iocontrol-removed/python/customtask.py

@@ -296,7 +296,7 @@ def emcToolSetOffset(self,pocket,toolno,offset,diameter,frontangle,backangle,ori
         self.io.tool.toolTable[pocket].backangle = backangle
         self.io.tool.toolTable[pocket].offset = offset
 
-        if debug(): print("new tool enttry: ",str(self.io.tool.toolTable[pocket]))
+        if debug(): print("new tool entry: ",str(self.io.tool.toolTable[pocket]))
 
         if self.io.tool.toolInSpindle  == toolno:
             self.io.tool.toolTable[0] = self.io.tool.toolTable[pocket]

configs/sim/axis/orphans/pysubs/customtask.py

@@ -290,7 +290,7 @@ def emcToolSetOffset(self,pocket,toolno,offset,diameter,frontangle,backangle,ori
         self.io.tool.toolTable[pocket].backangle = backangle
         self.io.tool.toolTable[pocket].offset = offset
 
-        if debug(): print("new tool enttry: ",str(self.io.tool.toolTable[pocket]))
+        if debug(): print("new tool entry: ",str(self.io.tool.toolTable[pocket]))
 
         if self.io.tool.toolInSpindle  == toolno:
             self.io.tool.toolTable[0] = self.io.tool.toolTable[pocket]

configs/sim/axis/vismach/5axis/bridgemill/5axis.ini

@@ -72,7 +72,7 @@ TOOL_TABLE = 5axis.tbl
 [KINS]
 # Note: Supported coordinates are XYZBCW but the W coordinate
 #       motion is incorporated into the X,Y,Z axes.
-#       Use of the W coordinate requies a joint (5)
+#       Use of the W coordinate requires a joint (5)
 #       in order to allow display of W values.
 #       Use immediate homing for this joint (JOINT_5)
 # Note: 5axiskins is misnomer