Re: [Emc-developers] Building a new C++ kinematics module

[Frank T. <fr...@fr...>]

> > warning: the frame size of 117088 bytes is larger than 2560 bytes
> > [-Wframe-larger-than=]
> 
> it's from src/Makefile:
> Makefile:EXTRA_CFLAGS += $(call cc-option,-Wframe-larger-than=2560)
> $(call cc-option,-Wno-declaration-after-statement)
> 
> this limitation comes from the limited kernel stack size and applies to
kernel
> threads only. It does not apply to userland RT threads builds (rt-preempt,
> xenomai) using this: http://static.mah.priv.at/public/UnifiedBuild.html
(even
> though the warning might be generated when building userland RT modules;
> this probably should be removed or rather replaced by a sensible limit
> derived from the specific thread system used).
> 
> I dont see an easy way around this limitation short of using statics or
some
> form of dynamic memory allocation for such blobs

Are the kinematics modules userland RT threads?  

Statics make the code non-thread safe, which I might not be a problem for
the kinematics module, and it would be better not to do memory allocation in
a realtime thread.  But it would be nice to use the ikfast motion planner to
route the robot arm movement.  I guess two instances of the iksolver.

Frank