attempt at fixing arm build

Author: Luca Toniolo

src/Makefile

@@ -372,6 +372,7 @@ SRCHEADERS := \
     emc/kinematics/genserkins.h \
     emc/kinematics/pentakins.h \
     emc/kinematics/pumakins.h \
+    emc/motion_planning/bezier9.h \
     emc/tp/tc.h \
     emc/tp/tc_types.h \
     emc/tp/tcq.h \
@@ -902,7 +903,7 @@ EXTRA_CFLAGS := $(filter-out -ffast-math,$(RTFLAGS)) -D__MODULE__ -I$(BASEPWD)/.
 	-I$(BASEPWD)/libnml/cms -I$(BASEPWD)/libnml/rcs -I$(BASEPWD)/libnml/inifile \
 	-I$(BASEPWD)/libnml/os_intf -I$(BASEPWD)/libnml/nml -I$(BASEPWD)/libnml/buffer \
 	-I$(BASEPWD)/libnml/posemath -I$(BASEPWD)/rtapi -I$(BASEPWD)/hal \
-	-I$(BASEPWD)/emc/nml_intf -I$(BASEPWD)/emc/kinematics -I$(BASEPWD)/emc/tp -I$(BASEPWD)/emc/motion \
+	-I$(BASEPWD)/emc/nml_intf -I$(BASEPWD)/emc/kinematics -I$(BASEPWD)/emc/tp -I$(BASEPWD)/emc/motion -I$(BASEPWD)/emc/motion_planning \
 	-DSEQUENTIAL_SUPPORT -DHAL_SUPPORT -DDYNAMIC_PLCSIZE -DRT_SUPPORT -DOLD_TIMERS_MONOS_SUPPORT -DMODBUS_IO_MASTER \
 	-fno-fast-math $(call cc-option,-mieee-fp) -fno-unsafe-math-optimizations \
 	-Wno-declaration-after-statement \

src/emc/kinematics/kinematics.h

@@ -105,7 +105,7 @@ extern KINEMATICS_TYPE kinematicsType(void);
 /* Return the kinematics module name (e.g., "trivkins", "5axiskins").
    This must match the module filename without extension.
    Returns NULL if no name is available. */
-extern const char* kinematicsGetName(void);
+extern const char* kinematicsGetName(void) __attribute__((weak));
 
 /* parameters for use with switchkins.c */
 typedef struct kinematics_parms {

src/emc/motion-logger/motion-logger.c

@@ -705,6 +705,8 @@ int main(int argc, char* argv[]) {
                           c->probe_home_err_inhibit);
                 break;
 
+            case EMCMOT_SET_EMULATE_LEGACY_MOVE_COMMANDS:
+                break;
 
             default:
                 log_print("ERROR: unknown command %d\n", c->command);

src/emc/motion/motion.c

@@ -905,7 +905,7 @@ static int init_comm_buffers(void)
 
     /* record the kinematics module name for userspace access */
     {
-        const char *kins_name = kinematicsGetName();
+        const char *kins_name = kinematicsGetName ? kinematicsGetName() : NULL;
         if (kins_name) {
             rtapi_strxcpy(emcmotConfig->kins_module_name, kins_name);
         } else {

tests/motion-logger/basic/expected.builtin-startup.in

@@ -206,7 +206,6 @@ ENABLE
 # and aborts.
 #
 
-COORD
 JOG_ABORT joint=0
 JOG_ABORT joint=1
 JOG_ABORT joint=2
@@ -224,3 +223,4 @@ JOG_ABORT joint=13
 JOG_ABORT joint=14
 JOG_ABORT joint=15
 ABORT
+COORD

tests/motion-logger/mountaindew/expected.motion-logger

@@ -98,7 +98,6 @@ JOG_ABORT joint=15
 ABORT
 SPINDLE_OFF
 ENABLE
-COORD
 JOG_ABORT joint=0
 JOG_ABORT joint=1
 JOG_ABORT joint=2
@@ -116,6 +115,7 @@ JOG_ABORT joint=13
 JOG_ABORT joint=14
 JOG_ABORT joint=15
 ABORT
+COORD
 SET_LINE x=2, y=0, z=0, a=0, b=0, c=0, u=0, v=0, w=0, id=4, motion_type=2, vel=0.666667, ini_maxvel=400, acc=1000, turn=-1
 SET_LINE x=3, y=0, z=0, a=0, b=0, c=0, u=0, v=0, w=0, id=5, motion_type=2, vel=0.666667, ini_maxvel=400, acc=1000, turn=-1
 SET_LINE x=3, y=4, z=0, a=0, b=0, c=0, u=0, v=0, w=0, id=6, motion_type=2, vel=0.666667, ini_maxvel=400, acc=1000, turn=-1