[Emc-developers] more progress on simulated systems

[Jeff E. <je...@un...>]

This is a lot more disruptive, so it's in the form of a patch instead of
going directly into CVS:
    http://emergent.unpy.net/index.cgi-files/sandbox/nort-rev3.patch
With this patch, HAL threads execute within the rtapi_app process.
While there are a lot of things still wrong, this is good enough to run
AXIS, halscope the XYZvel signal, and single-step through the trajectory
planner in GDB!

Configure using
    ./configure --enable-run-in-place --enable-simulator
and use the configuration file sim/axis.ini


I know this will make at least two people out there salivate:

Breakpoint 1, tpRunCycle (tp=0xb7b616d0, period=1000000)
    at emc/kinematics/tp.c:499
499     tc = tcqItem(&tp->queue, 0, period);
(gdb) where
#0  tpRunCycle (tp=0xb7b616d0, period=1000000) at emc/kinematics/tp.c:499
#1  0xb7c748db in get_pos_cmds (period=1000000) at emc/motion/control.c:1862
#2  0xb7c71817 in emcmotController (arg=0x0, period=1000000)
    at emc/motion/control.c:333
#3  0xb7f1a79c in thread_task (arg=0xb7ca7750) at hal/hal_lib.c:2450