[Emc-commit] [LinuxCNC/linuxcnc] f5311b: pumakins: keep joints 4 and 6 within a half turn o...

[Luca T. <no...@gi...>]

  Branch: refs/heads/master
  Home:   https://github.com/LinuxCNC/linuxcnc
  Commit: f5311b8b070c9d58b46e9e0562126a86abce868c
      https://github.com/LinuxCNC/linuxcnc/commit/f5311b8b070c9d58b46e9e0562126a86abce868c
  Author: Luca Toniolo <107...@us...>
  Date:   2026-09-30 (Wed, 30 Sep 2026)

  Changed paths:
    M src/emc/kinematics/pumakins.c
    A tests/pumakins-unwrap/checkresult
    A tests/pumakins-unwrap/skip
    A tests/pumakins-unwrap/test.sh
    A tests/pumakins-unwrap/unwrapcheck.c
    A tests/pumakins-unwrap/unwrapcheck.hal

  Log Message:
  -----------
  pumakins: keep joints 4 and 6 within a half turn of the previous value

pumakinsInverse() took th4 and th6 straight from atan2(), which always
lands in (-180, 180]. When the wrist crossed a half turn the returned
joint jumped a full turn in one call, and every trajectory planner takes
that jump at face value.

Bring both joints back within a half turn of the joints passed in, using
the angleDiff() helper the flag detection already uses. The test loads a
checker after pumakins, like tests/kins-jacobian, that walks joints 4 and
6 across the +-180 boundary in both directions, hands each inverse the
joints of the step before as motion does, and checks it returns the
joints that made the pose.

Fixes #4585.


  Commit: e93dfa5133987db220b066802e251dd5fb903486
      https://github.com/LinuxCNC/linuxcnc/commit/e93dfa5133987db220b066802e251dd5fb903486
  Author: Luca Toniolo <107...@us...>
  Date:   2026-09-30 (Wed, 30 Sep 2026)

  Changed paths:
    M tests/kins-frames/framecheck.c
    M tests/kins-frames/test.sh
    M tests/kins-jacobian/jaccheck.c
    M tests/kins-jacobian/test.sh

  Log Message:
  -----------
  tests: kins-frames and kins-jacobian build their checker without sudo

Both tests skip on a system build, and runtests sets SUDO only there, so
${SUDO} never expanded to anything. The checkers also returned -1, which
the loader reports as EPERM; they now return -EINVAL for a bad parameter
or a module that gives them nothing to check, and -ERANGE when a check
fails.


  Commit: bd9732fc10fe6c7b92779baf13de29370a32a648
      https://github.com/LinuxCNC/linuxcnc/commit/bd9732fc10fe6c7b92779baf13de29370a32a648
  Author: Luca Toniolo <107...@us...>
  Date:   2026-10-11 (Sun, 11 Oct 2026)

  Changed paths:
    M src/emc/kinematics/pumakins.c
    M tests/kins-frames/framecheck.c
    M tests/kins-frames/test.sh
    M tests/kins-jacobian/jaccheck.c
    M tests/kins-jacobian/test.sh
    A tests/pumakins-unwrap/checkresult
    A tests/pumakins-unwrap/skip
    A tests/pumakins-unwrap/test.sh
    A tests/pumakins-unwrap/unwrapcheck.c
    A tests/pumakins-unwrap/unwrapcheck.hal

  Log Message:
  -----------
  Merge pull request #4586 from grandixximo/pumakins-4585

pumakins: keep joints 4 and 6 within a half turn of the previous value


Compare: https://github.com/LinuxCNC/linuxcnc/compare/e8a02761ceaf...bd9732fc10fe

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