[LinuxCNC/linuxcnc Issue#306] get rid of [EMCMOT]TRAJ_PERIOD

#1 – andypugh 于 2017-07-14

On 14 July 2017 at 22:17, Sebastian Kuzminsky
wrote:

> @WJHildreth <https://github.com/wjhildreth> reports in #249
> <https://github.com/LinuxCNC/linuxcnc/issues/249> that several ini
> variables are either undocumented or unused.
>
> Casual inspection shows that [EMCMOT]TRAJ_PERIOD is documented but not
> used. The trajectory planner runs as part of Motion, in the servo thread,
> not in its
>

So that’s both [TRAJ]CYCLETIME and [TRAJ]TRAJPERIOD that should go?

—
atp

#2 – SebKuzminsky 于 2017-07-14

Yes, both ini variables should go, [TRAJ]CYCLETIME and [TRAJ]TRAJPERIOD, in master but not in 2.7 (in case someone’s using the ini variables in custom hal files or anything like that).

Motion has a command-line argument/modparam named trajperiodnsec, that should go (we don’t create a traj thread).

There’s some stuff inside linuxcnc to track the servo thread period, it gets placed into the Status struct as traj.cycle_time, that should stay, thought maybe a rename or a move is in order.

There’s some related stuff inside Motion that’ll need to be cleaned up, emcmotConfig’s interpolationRate, the thread cycle time helper functions, the cubic kinematics of the Free/Joint-mode planner.

There may be other stuff to clean up, this is just from a quick look around. But the ini stuff can be cleaned up independently of cleaning the inside of Motion.

#3 – nicokid 于 2017-07-17

Hi Seb,

Then I have to remove from my stepconf the following variables:
[EMCMOT]COMM_WAIT
[EMCMOT]TRAJ_PERIOD
[TRAJ]CYCLE_TIME

It’s correct?
Nicola.

#4 – SebKuzminsky 于 2017-07-17

[TRAJ]CYCLETIME and [EMCMOT]COMMWAIT should definitely go. That part is correct.

[EMCMOT]TRAJ_PERIOD is a little more complicated, it’s used in a surprising and non-standard way inside the Motion controller, and @jepler pointed out on IRC that we should understand that usage better before removing it.

#5 – SebKuzminsky 于 2017-07-17

Wait, after re-reading your comment I’m not sure I understand what you’re asking.

I already modified the stepconf program so that it no longer writes [EMCMOT]COMMWAIT or [TRAJ]CYCLETIME in the .ini files it creates (a5c7736af80bb4e357b4db4ec126c6347f5e999f and 945de033f9bee05c311dd95a64793c2efcd43b79).

Are you asking about an existing .ini file that you have, that was created by a version of stepconf that’s older than Friday July 14, 2017? ini files like that will still have those two variables, and they can safely be removed by hand.

#6 – nicokid 于 2017-07-17

I have a ton of changes to Stepconf. Some are in the #274 pull request, others are bugfixes for integrating gladevcp (I have not posted yet).

Nicola.

#7 – andypugh 于 2017-07-18

I just pushed a patch to expunge COMMWAIT and CYCLETIME in the update_ini
script

—
atp