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COMPLETED ========= Architecture: * Dual-layer: userspace planning, RT execution * Lock-free SPSC queue with atomic operations * 9D vector abstractions (lines work, arcs TODO) * Backward velocity pass optimizer * Peak smoothing algorithm * Atomic state sharing between layers Critical Fixes: * Optimizer now updates `tc->finalvel` (prevents velocity discontinuities) * Force exact stop mode (`TC_TERM_COND_STOP`) - no blending yet * RT loop calls `tpRunCycle()` every cycle (fixes 92% done bug) * Error handling uses proper `rtapi_print_msg()` instead of `printf()` Verified Working: * Simple linear G-code completes (squares, rectangles) * Acceleration stays within INI limits during normal motion * No blend spikes (fixed) KNOWN LIMITATIONS ================= E-stop: 3x acceleration spike - Tormach has identical behavior (checked their code) - Industry standard for emergency stops - Safety requirement: immediate response - Acceptable for Phase 0 No Blending: Exact stop at every corner - Expected - Phase 4 feature - Prevents acceleration spikes without blend geometry No Arcs: G2/G3 not implemented - Not needed for Phase 0 validation - `tpAddCircle_9D()` stub exists Feed Override: Abrupt changes - Predictive handoff needed (Phase 3) - Works, just not smooth FUTURE PHASES ============= Phase 1: Kinematics in userspace Phase 2: Ruckig S-curve integration Phase 3: Predictive handoff, time-based buffering Phase 4: Bezier blend geometry Phase 5: Hardening, edge cases Phase 6: Cleanup FILES MODIFIED ============== Core Planning: src/emc/motion_planning/motion_planning_9d.cc - Optimizer src/emc/motion_planning/motion_planning_9d_userspace.cc - Segment queueing src/emc/motion_planning/motion_planning_9d.hh - Interface RT Layer: src/emc/motion/control.c - RT control loop fix src/emc/motion/command.c - Mode transitions src/emc/tp/tp.c - Apply optimized velocities src/emc/tp/tcq.c - Lock-free queue operations Infrastructure: src/emc/motion/atomic_9d.h - SPSC atomics src/emc/tp/tc_9d.c/h - 9D vector math src/emc/tp/tc_types.h - Shared data structures TEST ==== G21 G90 F1000 G1 X10 Y0 G1 X10 Y10 G1 X0 Y10 G1 X0 Y0 M2 Expected: Jerky motion (exact stop), completes without errors.
Extract kinematics math into HAL-independent headers and create userspace kinematics infrastructure for trajectory planning. Key changes: - Extract pure math functions from all kinematics modules into *_math.h headers (5axiskins, corexykins, genhexkins, genserkins, lineardeltakins, maxkins, pentakins, pumakins, rosekins, rotarydeltakins, rotatekins, scarakins, scorbotkins, tripodkins, trtfuncs) - Add kinematics_userspace/ with C interface for userspace kinematics - Add HAL pin reader for accessing kinematics parameters from userspace - Add motion_planning modules: Jacobian calculation, joint limits enforcement, path sampling, and userspace kinematics integration - Add kinematics_params.h for shared parameter definitions - Update trajectory planner (tp.c) to support userspace kinematics path - Update INI parsing to load userspace kinematics configuration This enables the 9D planner to compute inverse kinematics and perform singularity-aware velocity limiting without RT kernel calls. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Phase 2 (Ruckig Integration) was merged from master. This phase adds: - Feed override handling with proper velocity/acceleration management - 9-phase profile optimization for trajectory smoothing - Downstream exit velocity capping for segment boundaries - Tangent-aware Jacobian limits for per-axis joint constraints - Backward pass optimization for profile consistency - Jerk-aware motion planning refinements
…ions by feed ratio
…tation Replace 1-segment downstream lookahead with multi-segment chain walk (computeChainExitCap) that cascades reachability limits backward through up to 16 downstream segments. Prevents exit velocities that create impossible junctions on short segments or sharp kinks further ahead. Add feed-limiting binary search in computeBranch: instead of rejecting branches that exceed junction constraints, find the maximum feed that produces a feasible exit velocity. Reduces branch rejections during rapid feed override changes. Add kink and chain exit cap checks in manageBranches that force branch computation when the active segment's profile exits above constraints. The backward fixup pass skips the active segment, so these checks are the only runtime enforcement point. Remove SPLIT_MISMATCH detection and velocity clamp from RT handoff (tp.c) — upstream constraints now prevent the mismatch at the source. Downgrade diagnostic messages (BRAKE_MAIN, PROFILE_GAP, FEED_LIMIT) from ERR to DBG level.
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Is there a way to add scripts in tests/ to demonstrate that this new code is working? |
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Planner 0/1 are unaffected, the TP works in Cartesian space and the RT module's kinematicsInverse/kinematicsForward symbols are resolved at load time as usual. Any user-written kinematics module works fine. Planner 2 has a problem: it needs a userspace reimplementation of each kinematics module's math (for Jacobian computation, joint-space limit enforcement, path sampling). Currently kinematics_params.h enumerates known modules, and kinematicsUserInit() hard-fails for anything not in the list, aborting trajectory init entirely. Three options to preserve compatibility with custom kinematics in Planner 2: Fallback to identity kins in userspace, Treat unknown modules as trivkins for the userspace layer. RT still uses the real module. Joint limit enforcement would be approximate but conservative. Downgrade to planner 0/1, If userspace kins init fails for an unknown module, automatically fall back to planner 1 (or 0) with a warning. Simplest fix, preserves "any kins works with any TP". Generic RT-userspace bridge, Add a KINS_TYPE_GENERIC that calls the RT module's forward/inverse via shared memory. Correct but slower, and requires a new communication channel. Which approach would you prefer? |
The new code is not really done yet, I'll work on tests after things are stable enough, G64 is still not implemented, rigid tapping is missing, adaptive feed not tested, a few more things... |
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at the moment still hardening the Feed Override system, it is quite complex still have not squashed all possible ways things could go wrong, but getting closer each day... |
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Preserving the generic plugable nature of kinematics across trajectory planners is a very nice feature and should be preserved if possible. |
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