9d planner#3807

Draft

grandixximo wants to merge 114 commits into

LinuxCNC:masterfrom

grandixximo:9d

Commits on Apr 10, 2026

Phase 0: Tormach 9D Architecture Port
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Phase 1: Move Kinematics to Userspace
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Phase 3: Feed Override and Motion Planning Optimization
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Force Kin in Uspace for Planner Type 2
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Fix freezing in place
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small cleanup
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Derive feed override deferral timing from servo cycle and scale durations by feed ratio
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Proper state reset for each run
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Chain-based downstream constraints and feed limiting for branch computation
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fix end spike
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Fix Profile v0 Mismatch
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Fix Centripetal Acceleration Bound to kink_vel
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Fix velocity chain gaps at junctions and improve feed override stability
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lines get kink vel like arcs
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Add alt-entry profiles and fix sub-cycle brake transitions
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Virtual arc for line-line junctions
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Eliminate stale feed-override profiles with one-shot cursor and v0-aware seeding
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Remove the hardcoded kinematics_type_id_t enum that prevented custom
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G64 first draft
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Refactor Kinematics one file per module
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refined kins docs
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Blending refinements
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Joint-space feedforward via finite differences for planner type 2
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Reset canon length units on program open
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C2 curvature matching and path deviation for Bezier blends
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Curvature-matched blends and path deviation measurement
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G0/G1 blend guard, kink_vel fix, and tangential jerk budget
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Collinear segment consolidation for CAM toolpaths
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Queue depth gate: eliminate velocity spike at segment activation
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Fix abort freeze: bypass handoff margin for stop requests in computeBranch
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Bidirectional reachability cap: eliminate Working profiles from fixup and backtrack passes
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Fix split-cycle elapsed_time advance: prevent velocity dip on short segments
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attempt at fixing arm build
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Refactor blend projection calculations in tpSetupBlend9D to normalize by delta magnitude
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Refactor bezier9PathDeviation to enforce distance to corner for stricter P tolerance compliance
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Fix feed override junction velocity mismatches in downstream profile seeding
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Add near-active v0 reconciliation (Step 4) to fix stale-predecessor junction spikes
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Fix feed override crash/recovery spikes with alt-entry chain and cleanup debug probes
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Harden split-cycle junction velocity: jerk-based v0 cap, physical clamping, and alt-entry improvements
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Fix alt-entry flythrough bail blocking junction segments during feed override
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Invalidate stale alt-entries at writeAltEntry convergence break
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Fix feed hold spill-over spikes with debounce exemption and branch-aware snap path
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fix slowdown
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Fix abort spill-over negative velocity with physics-based acceleration clamp
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rolled back refactor of bezier9
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Fix Bezier 9D tangent weighting, arc-length parameterization, and G0↔G1 transitions
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Cubic Hermite arc-length interpolation for Bezier blends
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Reject stale-feed alt-entry profiles at RT junction handoff
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spike prediction
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defer
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startup strategy
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guard on less than 0.001
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dynamic debounce
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accept closer vel
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fixed 183 pattern
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before rearch
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simplified
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fixed feed-override seeding spike
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new helper fixupPass
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pause and stop unified
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fix resume spikes: backward fixup end_idx covers full DS range
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refactor
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100% ok
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200% ok
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fix unable to start
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feed override struct
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fix backward/forward velocity inconsistency at v_f≈0 junctions
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fix abort rogue segment: reset compressor before stop branch
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fix feed-override velocity oscillation: remove self-reinforcing min caps
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remove backward pass depth limit: fix feed-change spikes on deep queues
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gate-based feed coalescing: eliminate cross-feed frontier spikes
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better fail handling, better 10%
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drop feed to 10% ok
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90 and 100% ok
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fix STOP/EXACT spike
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cleanup some debug
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fixed some spikes due to wrong capping
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fix bidir spikes
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fixed corridor-kink pattern spikes
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better 0%
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removed debug
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fixed freezing up on non-tangent
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FINALIZED gate: prevent segment activation before boundaries known
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removed spike debug
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chain-split: fix short-segment lost-time jerk spikes
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reinstated cubic for planner type 2
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fix C1 discontinuity from collinear consolidation after blend trim
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fix premature FINALIZED gate on G-code mode change
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fix include paths after upstream rebase (relative paths for non-INCLUDES dirs)
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fix ARM build: remove spurious SRCHEADERS (tp/kinematics headers covered by EXTRA_CFLAGS -I paths)
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fix initraj.cc: use qualified motion/motion.h path for ini/ directory
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fix include paths in motion_planning: use relative ../tp/ and motion/ prefixes
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fix remaining flat includes in motion_planning: blendmath.h and motion_types.h
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convert all kinematics modules to nonrt_attach architecture
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replace hal_priv.h/SHMOFF/self_offset with hal_struct_newf/attach API
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refactor hal_struct to use a dedicated namespace
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fix hal_struct: indentation, comp->ready check, duplicate/detach errors
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hal_struct: add man3 pages and halcmd show/list struct support
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hal_struct: fix man page: use AsciiDoc source, not hand-written troff
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fix velocity spikes at segment junctions under feed override
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hal_struct man page: add volatile to example, ignore generated .3 files
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Add comp_kins_uspace.h glue for .comp kinematics planner type 2 support
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Fix header-sanity: align with bertho's include isolation model
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fix blend jerk overshoot: partition tangential+centripetal budget per joint
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port TP2 userspace planner from C++ Ruckig to cruckig
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Build warning fix, and cruckig compatibility fix
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Commits on Apr 12, 2026

Register motion_planning public headers with HEADERS for make clean
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Bezier tolerance to match TP0 distance from corners and not just entities
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Fast bezier init for blend optimizer + skip RT ack for planner type 2
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Fix uninitialized read in bezier9MaxCurvature when called via bezier9InitFast
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TP2: short-segment blend guard fix + blend sizing improvements
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Move comp_kins_uspace.h from include/ to src/emc/kinematics/
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Fix author signatures: aitekcnc → LinuxCNC
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Fix backward pass using wrong kink_vel junction — tc exit kink leaked to entry
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