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

[Michael H. <ma...@ma...>]

Am 14.11.2013 um 21:11 schrieb Frank Tkalcevic <fr...@fr...>:

> I managed to convert the generated C++ to C, and get that working in the
> simulator (for Translate3D and TranslationXAxisAngle4D).
> 
> Then I created an openrave module to generate the C code.  That worked in
> the simulator.
> 
> Now I've moved from my Vmware 12.04 simulator, to a 10.04 atom box trying to
> build the realtime version.  This was another level of work mainly because
> of the different header files the kernel uses.
> 
> My problem at the moment is linking in a 3rd party math library, lapack.  I
> can link in the static library, liblapack.a, but that still leaves me with a
> lot of undefined symbols.  Some of these are from the libgfortran, but I
> only have a shared library installed.  The other symbols I think are within
> liblapack.a itself, so I'm not sure how I can modify the kbuild stuff to
> keep looking in liblapack.a to find self referenced symbols.

I think your only realistic option  is to build this with a userland RT threads style (rt-preempt or xenomai-user) using this branch: http://static.mah.priv.at/public/UnifiedBuild.html - this is very similar to the sim environment in terms of libraries you can use. 

as far as in-kernel math goes I think lapack and fortran libraries are outside the design envelope for kernel threads flavors, both RTAI and xenomai-kernel.

That was a problem which was waiting to happen - clue up kernel RT modules in terms of math, bang

I think it is time to realize kernel threads RT are a technology which has reached end-of-life

- Michael

> 
> WARNING: "dtrmv_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined!
> WARNING: "_gfortran_concat_string"
> [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined!
> WARNING: "dnrm2_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined!
> WARNING: "daxpy_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined!
> WARNING: "dger_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined!
> WARNING: "idamax_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined!
> WARNING: "_gfortran_stop_numeric"
> [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined!
> WARNING: "dtrsm_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined!
> WARNING: "_gfortran_transfer_integer"
> [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined!
> WARNING: "_gfortran_compare_string"
> [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined!
> WARNING: "dgemm_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined!
> WARNING: "ddot_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined!
> WARNING: "_gfortran_string_len_trim"
> [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined!
> WARNING: "_gfortran_st_write_done"
> [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined!
> WARNING: "dcopy_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined!
> WARNING: "_gfortran_transfer_character"
> [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined!
> WARNING: "dswap_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined!
> WARNING: "drot_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined!
> WARNING: "logf" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined!
> WARNING: "dgemv_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined!
> WARNING: "__powidf2" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined!
> WARNING: "dscal_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined!
> WARNING: "_gfortran_st_write" [/home/frankt/git/ikfast/src/ikfastkins.ko]
> undefined!
> WARNING: "dtrmm_" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined!
> WARNING: "lroundf" [/home/frankt/git/ikfast/src/ikfastkins.ko] undefined!
> 
> 
> 
>> -----Original Message-----
>> From: Marius Alksnys [mailto:mar...@gm...]
>> Sent: Friday, 15 November 2013 4:16 AM
>> To: emc...@li...
>> Subject: Re: [Emc-developers] Building a new C++ kinematics module
>> 
>> Frank,
>> 
>> have you made any progress with it? Please let me know if you do.
>> 
>> Thanks.
>> 
>> 
>> 
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