switchable kinematics

1) Control kinematics type by hal pin: motion.switchkins-type
   The _integer_ value of this float hal pin is passed
   to the kinematicsSwitch() function to select a
   kinematics type.
2) Uses M68 (analog out) in a hal net like:
     net :kinstype-select <= motion.analog-out-0N
     net :kinstype-select => motion.switchins-type
3) Supports 3 switchable kinematic types (0,1,2)
   Switching kinstype is managed by user supplied mcodes
   that provide for interp-motion syncrhonization:
     M428/M429/M130 (remap Mcode examples)
     M128/M129/M130 (user  Mcode examples with limits updates)
4) API change for kinematics:
   All kinematics modules must export functions:
          kinematicsSwitchable() (return 1 if supported)
          kinematicsSwitch()     (return 0 if ok)
       or use macro (from kinematics.h):
          KINS_NOT_SWITCHABLE
5) Provide a template (userkfuncs.c) and support building a
   user kinematics module for RIP builds
6) Supported modules:
     xyz[ab]c-trt-kins
     pumakins
     scarakins
     genserkins
     genhexkins
     5axiskins (bridgemill)
7) file updates for src/emc/kinematics/:
     genserfuncs.c: separated out genserkins functions
     trtfuncs.c:    separated out xyz[ab]c-trt-kins functions
     userkfuncs.c:  template user kins functions
     ugenserkins.c: separated user program bin/genserkins
                    (declining support, not working)
8) Docs (asciidoc fmt): docs/src/motion/switchkins.txt

******************************************************
Initial branch 24nov19
Based on work of rushabh,plopes9000,jskangas
particularly:
https://forum.linuxcnc.org/10-advanced-configuration/31813-tcp-5-axis-kinematics?start=90#124848
******************************************************

misc updates:
  scara use 6 joints as supported by vismach scaragui

  switchkins sims: [RS274NGC]FEATURES=8 obsolete
        [RS274NGC]HAL_PIN_VARS (default is 1(enable))

  update genserkins jts 6,7,8 == u,v,w
        with appropriate [KINS]JOINTS value

  support for 5axiskins (bridgemill), refactor to:
        1) support module 'coordinates' parameter and allow duplicate
           letters for multiple joints for an axis letter
        2) support A,U,V one-to-one to assigned joint
        3) support switchkins

  puma560gui: message if missing .obj files

Author: dngarrett

configs/sim/axis/vismach/5axis/bridgemill/5axis.ini

@@ -22,6 +22,11 @@ MAX_FEED_OVERRIDE = 2.0
             PYVCP = 5axis.xml
 
 [RS274NGC]
+SUBROUTINE_PATH = ./remap_subs
+   HAL_PIN_VARS = 1
+          REMAP = M428  modalgroup=10  ngc=428remap
+          REMAP = M429  modalgroup=10  ngc=429remap
+          REMAP = M430  modalgroup=10  ngc=430remap
 PARAMETER_FILE = 5axis.var
 
 [EMCMOT]
@@ -37,12 +42,22 @@ CYCLE_TIME = 0.010
   HALUI = halui
 HALFILE = LIB:basic_sim.tcl
 HALFILE = 5axisgui.hal
+HALCMD  = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
 POSTGUI_HALFILE = 5axis_postgui.hal
 
+[HALUI]
+# M428:bridgemill    (kinstype==0 startupDEFAULT)
+# M429:identity kins (kinstype==1)
+# M430:userk kins    (kinstype==2)
+MDI_COMMAND = M428
+MDI_COMMAND = M429
+MDI_COMMAND = M430
+
 [TRAJ]
-         COORDINATES = X Y Z B C W
-        LINEAR_UNITS = 1.0
-       ANGULAR_UNITS = 1.0
+         COORDINATES = XYZBCWY
+        LINEAR_UNITS = mm
+       ANGULAR_UNITS = degree
+MAX_ANGULAR_VELOCITY = 360.0
 DEFAULT_LINEAR_VELOCITY = 200.0
 MAX_LINEAR_VELOCITY = 346.0
 MAX_LINEAR_ACCELERATION = 800.0
@@ -61,8 +76,24 @@ TOOL_TABLE = 5axis.tbl
 #       but an extra joint (6 total) must be configured
 #       in order to allow display of W values.
 #       Use immediate homing for this joint (JOINT_5)
- KINEMATICS = 5axiskins
-     JOINTS = 6
+# Note: 5axiskins is misnomer (default: xyzbcw uses 6 joints)
+
+# default: xyzbcw
+#          type0:5axiskins, type1:identity, type2:userk
+#          x:joint0,y:joint1,z:joint2,b:joint3,c:joint4,w:joint5
+#    JOINTS  = 6
+# KINEMATICS = 5axiskins
+
+# complex example (duplicate coord letters for y, 7 joints):
+#           type0:5axiskins, type1:identity, type2:userk
+#           x:joint0
+#           y:joint1 AND joint6
+#           z:joint2
+#           b:joint3
+#           c:joint4
+#           w:joint5
+     JOINTS = 7
+ KINEMATICS = 5axiskins coordinates=xyzbcwy
 
 [AXIS_X]
        MIN_LIMIT = -500
@@ -121,7 +152,17 @@ MAX_ACCELERATION =  800
        MIN_LIMIT = -500
        MAX_LIMIT =  500
  HOME_SEARCH_VEL =    0
-   HOME_SEQUENCE =    0
+   HOME_SEQUENCE =   -1
+
+# joints 1 and 6 used for y
+[JOINT_6]
+            TYPE = LINEAR
+    MAX_VELOCITY =  200
+MAX_ACCELERATION =  800
+       MIN_LIMIT = -500
+       MAX_LIMIT =  500
+ HOME_SEARCH_VEL =    0
+   HOME_SEQUENCE =   -1
 
 [JOINT_2]
             TYPE = LINEAR

configs/sim/axis/vismach/5axis/bridgemill/5axis.xml

@@ -1,6 +1,37 @@
 <?xml version='1.0' encoding='UTF-8'?>
 <pyvcp>
 
+  <vbox>
+    <relief>"ridge"</relief>
+    <bd>5</bd>
+    <label>
+      <text>"SWITCHKINS"</text>
+      <relief>RIDGE</relief>
+      <bd>3</bd>
+    </label>
+    <multilabel>
+      <legends>[" 0:BRIDGE ", "1:IDENTITY", " 2:USERK  "]</legends>
+      <font>("DejaVu Sans Mono",16)</font>
+      <bg>"black"</bg>
+      <fg>"yellow"</fg>
+    </multilabel>
+    <button>
+      <halpin>"type0-button"</halpin>
+      <text>"Brigemill"</text>
+      <bd>3</bd>
+    </button>
+    <button>
+      <halpin>"type1-button"</halpin>
+      <text>"Identity  "</text>
+      <bd>3</bd>
+    </button>
+    <button>
+      <halpin>"type2-button"</halpin>
+      <text>"userk  "</text>
+      <bd>3</bd>
+    </button>
+  </vbox>
+
   <vbox>
   <labelframe text="Joints values">
     <font>("Helvetica",14)</font>
@@ -59,6 +90,28 @@
         <format>"4.4f"</format>
        </number>
     </hbox>
+    <hbox>
+     <label>
+        <text>"5: "</text>
+        <font>("Helvetica",14)</font>
+     </label>
+     <number>
+        <halpin>"joint5"</halpin>
+        <font>("Helvetica",14)</font>
+        <format>"4.4f"</format>
+       </number>
+    </hbox>
+    <hbox>
+     <label>
+        <text>"6: "</text>
+        <font>("Helvetica",14)</font>
+     </label>
+     <number>
+        <halpin>"joint6"</halpin>
+        <font>("Helvetica",14)</font>
+        <format>"4.4f"</format>
+       </number>
+    </hbox>
   </labelframe>
   </vbox>
 

configs/sim/axis/vismach/5axis/bridgemill/5axis_postgui.hal

@@ -1,7 +1,17 @@
+net :kinstype.is-0  <= kinstype.is-0  => pyvcp.multilabel.0.legend0
+net :kinstype.is-1  <= kinstype.is-1  => pyvcp.multilabel.0.legend1
+net :kinstype.is-2  <= kinstype.is-2  => pyvcp.multilabel.0.legend2
+
+net :type0-button   <= pyvcp.type0-button  => halui.mdi-command-00
+net :type1-button   <= pyvcp.type1-button  => halui.mdi-command-01
+net :type2-button   <= pyvcp.type2-button  => halui.mdi-command-02
+
 net :jx  => pyvcp.joint0
 net :jy  => pyvcp.joint1
 net :jz  => pyvcp.joint2
 net :jb  => pyvcp.joint3
 net :jc  => pyvcp.joint4
+net :jw  => pyvcp.joint5
+net :jy2 => pyvcp.joint6
 
 net :vismach-clear  <= pyvcp.vismach-clear => vismach.plotclear

configs/sim/axis/vismach/5axis/bridgemill/5axisgui.hal

@@ -7,6 +7,8 @@ net :jy  joint.1.pos-fb 5axisgui.jy
 net :jz  joint.2.pos-fb 5axisgui.jz
 net :jb  joint.3.pos-fb 5axisgui.jb
 net :jc  joint.4.pos-fb 5axisgui.jc
+net :jw  joint.5.pos-fb
+net :jy2 joint.6.pos-fb
 
 # Note: no joint or motor connections are used
 # for the w coordinate

configs/sim/axis/vismach/5axis/bridgemill/5axisgui.ngc

@@ -26,7 +26,7 @@ o100 while [#<bct> lt #<bctmax>]
        #<y> = 0
        #<z> = [-#<rnow>]
        g0 x#<x> y#<y>
-m66e0l0
+       m66e0l0 ; force sync
        g0 z#<z>
        g0b[-90+#<b>]
        #<cct> = 0

configs/sim/axis/vismach/5axis/bridgemill/README

@@ -19,3 +19,16 @@ Example demo:
 Note: W is for tool motion at b,c angles 
       Configure a joint for W (6 total) to
       allow display of W values
+
+The 5axis_xyzbcwy.ini illustrates how
+to use multiple (2) joints for the axis y
+coordinate.
+
+Configuration for XYZBCWY (7 joints total)
+J0: X
+J1: Y
+J2: Z
+J3: B
+J4: C
+J5: W
+J6: Y

configs/sim/axis/vismach/5axis/bridgemill/README_es

@@ -1 +1,10 @@
-Esta es una simulación de una fresadora de puente de 5 ejes XYZBC.
+Esta es una simulación de una fresadora de puente de 5 ejes XYZBCW.
+
+Configuration for XYZBCWY (7 joints total)
+J0: X
+J1: Y
+J2: Z
+J3: B
+J4: C
+J5: W
+J6: Y

configs/sim/axis/vismach/5axis/bridgemill/remap_subs/428remap.ngc

@@ -0,0 +1,24 @@
+;M428 by remap: select kinstype=0 genhexkins
+o<428remap>sub
+  #<kinstype> = 0
+  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
+
+o1 if [exists [#<_hal[motion.switchkins-type]>]]
+o1 else
+     (debug,M428:Missing [RS274NGC]HAL_PIN_VARS=1)
+     (debug,STOP)
+     M2
+o1 endif
+
+   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (debug,M428: Wrong motion.switchkins-type)
+     (debug,or missing hal net to analog-out-0x)
+     (debug,STOP)
+     M2
+o2 else
+o2 endif
+
+o<428remap>endsub

configs/sim/axis/vismach/5axis/bridgemill/remap_subs/429remap.ngc

@@ -0,0 +1,24 @@
+;M429 by remap: select kinstype==1 Identity kinematics
+o<429remap>sub
+  #<kinstype> = 1
+  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
+
+o1 if [exists [#<_hal[motion.switchkins-type]>]]
+o1 else
+     (debug,M429:Missing [RS274NGC]HAL_PIN_VARS=1)
+     (debug,STOP)
+     M2
+o1 endif
+
+   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (debug,M429:Wrong motion.switchkins-type)
+     (debug,or missing hal net to analog-out-0x)
+     (debug,STOP)
+     M2
+o2 else
+o2 endif
+
+o<429remap>endsub

configs/sim/axis/vismach/5axis/bridgemill/remap_subs/430remap.ngc

@@ -0,0 +1,24 @@
+;M430 by remap: select kinstype==2 userk kins
+o<430remap>sub
+  #<kinstype> = 2
+  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
+
+o1 if [exists [#<_hal[motion.switchkins-type]>]]
+o1 else
+     (debug,M30:Missing [RS274NGC]HAL_PIN_VARS=1)
+     (debug,STOP)
+     M2
+o1 endif
+
+   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (debug,M430:Wrong motion.switchkins-type)
+     (debug,or missing hal net to analog-out-0x)
+     (debug,STOP)
+     M2
+o2 else
+o2 endif
+
+o<430remap>endsub