posemath: split the header, move EmcPose, stop exporting gomath and sincos

src/Makefile

@@ -407,12 +407,11 @@ SRCHEADERS := \
     emc/ini/inifile.hh \
     emc/ini/inifile.h \
     emc/nml_intf/emcpos.h \
-    emc/nml_intf/emcpose.h \
     emc/nml_intf/motion_types.h \
-    libposemath/gomath.h \
-    libposemath/gotypes.h \
+    libposemath/emcpose.h \
     libposemath/posemath.h \
-    libposemath/sincos.h \
+    libposemath/posemath.hh \
+    libposemath/posemath_types.h \
     rtapi/rtapi.h \
     rtapi/rtapi_app.h \
     rtapi/rtapi_atomic.h \
@@ -1292,7 +1291,7 @@ tpmod-objs += emc/tp/tcq.o
 tpmod-objs += emc/tp/tp.o
 tpmod-objs += emc/tp/spherical_arc.o
 tpmod-objs += emc/tp/blendmath.o
-tpmod-objs += emc/nml_intf/emcpose.o
+tpmod-objs += libposemath/emcpose.o
 tpmod-objs += libposemath/_posemath.o
 tpmod-objs += emc/tp/sp_scurve.o
 tpmod-objs += emc/tp/ruckig_wrapper.o

src/emc/kinematics/genserfuncs.c

@@ -38,8 +38,8 @@
 #endif
 #include <rtapi_math.h>
 #include <hal.h>
-#include <gotypes.h>    /* go_result, go_integer */
-#include <gomath.h>     /* go_pose */
+#include "libposemath/gotypes.h"    /* go_result, go_integer */
+#include "libposemath/gomath.h"     /* go_pose */
 #include <kinematics.h>
 
 #include "genserkins.h" /* these decls */

src/emc/kinematics/genserkins.h

@@ -34,8 +34,8 @@
 #define GENSERKINS_H
 
 #include <hal.h>                /* HAL data types */
-#include <gotypes.h>                /* go_result, go_integer */
-#include <gomath.h>                /* go_pose */
+#include "libposemath/gotypes.h"    /* go_result, go_integer */
+#include "libposemath/gomath.h"    /* go_pose */
 #include <kinematics.h>
 
 /*!

src/emc/kinematics/scorbot-kins.c

@@ -42,7 +42,6 @@
 #include <rtapi_app.h>
 #include <rtapi_math.h>
 #include <hal.h>
-#include <gotypes.h>
 #include <kinematics.h>
 
 

src/emc/nml_intf/Submakefile

@@ -3,7 +3,6 @@ LIBEMCSRCS := \
     emc/nml_intf/emcglb.c \
     emc/rs274ngc/modal_state.cc \
     emc/nml_intf/emc.cc \
-    emc/nml_intf/emcpose.c \
     emc/nml_intf/emcargs.cc \
     emc/nml_intf/emcops.cc \
     emc/nml_intf/canon_position.cc \
@@ -27,7 +26,6 @@ TARGETS += ../lib/liblinuxcnc.a
 
 EMCNMLINTFINCS = \
 	./emc/nml_intf/emcpos.h \
-	./emc/nml_intf/emcpose.h \
 	./emc/nml_intf/motion_types.h
 
 $(patsubst ./emc/nml_intf/%,../include/%,$(EMCNMLINTFINCS)): ../include/%.h: ./emc/nml_intf/%.h

src/emc/nml_intf/emcpos.h

@@ -1,36 +1,22 @@
 /********************************************************************
 * Description: emcpos.h
 *
+*   EmcPose now lives in emcpose.h, beside the pose math it is built out
+*   of.  This header stays so that code including it keeps working.
+*
 *   Derived from a work by Fred Proctor & Will Shackleford
 *
 * Author:
 * License: GPL Version 2
 * System: Linux
-*    
+*
 * Copyright (c) 2004 All rights reserved.
 *
 * Last change:
 ********************************************************************/
 #ifndef __LINUXCNC_EMCPOS_H
 #define __LINUXCNC_EMCPOS_H
 
-#include "posemath.h"		/* PmCartesian */
-
-typedef struct EmcPose {
-    PmCartesian tran;
-    double a, b, c;
-    double u, v, w;
-} EmcPose;
-
-#define ZERO_EMC_POSE(pos) do { \
-(pos).tran.x = 0.0;             \
-(pos).tran.y = 0.0;             \
-(pos).tran.z = 0.0;             \
-(pos).a = 0.0;                  \
-(pos).b = 0.0;                  \
-(pos).c = 0.0;                  \
-(pos).u = 0.0;                  \
-(pos).v = 0.0;                  \
-(pos).w = 0.0; } while(0)
+#include "emcpose.h"
 
 #endif

src/hal/components/tpcomp.comp

@@ -69,7 +69,7 @@ option  extra_setup;
 #include USE_TOPDIR(src/emc/tp/tcq.c)
 #include USE_TOPDIR(src/emc/tp/spherical_arc.c)
 #include USE_TOPDIR(src/emc/tp/blendmath.c)
-#include USE_TOPDIR(src/emc/nml_intf/emcpose.c)
+#include USE_TOPDIR(src/libposemath/emcpose.c)
 #include USE_TOPDIR(src/libposemath/_posemath.c)
 #include USE_TOPDIR(src/libposemath/sincos.c)
 

src/libposemath/Submakefile

@@ -1,4 +1,4 @@
-POSEMATHSRCS := $(addprefix libposemath/, _posemath.c posemath.cc gomath.c sincos.c)
+POSEMATHSRCS := $(addprefix libposemath/, _posemath.c posemath.cc gomath.c sincos.c emcpose.c)
 $(call TOOBJSDEPS, $(POSEMATHSRCS)) : EXTRAFLAGS=-fPIC
 USERSRCS += $(POSEMATHSRCS) 
 TARGETS += ../lib/libposemath.so ../lib/libposemath.so.0
@@ -10,10 +10,14 @@ TARGETS += ../lib/libposemath.so ../lib/libposemath.so.0
 	@$(CXX) $(LDFLAGS) -Wl,-soname,$(notdir $@) -shared -o $@ $^
 
 POSEMATHINCS = \
-    ./libposemath/gomath.h \
-    ./libposemath/gotypes.h \
+    ./libposemath/emcpose.h \
     ./libposemath/posemath.h \
-    ./libposemath/sincos.h
+    ./libposemath/posemath_types.h
+
+POSEMATHCXXINCS = \
+    ./libposemath/posemath.hh
 
 $(patsubst ./libposemath/%,../include/%,$(POSEMATHINCS)): ../include/%.h: ./libposemath/%.h
 	cp $^ $@
+$(patsubst ./libposemath/%,../include/%,$(POSEMATHCXXINCS)): ../include/%.hh: ./libposemath/%.hh
+	cp $^ $@

src/emc/nml_intf/emcpose.c → src/libposemath/emcpose.c

@@ -13,7 +13,7 @@
 ********************************************************************/
 
 #include "emcpose.h"
-#include <posemath.h>
+#include "posemath.h"
 #include <rtapi_math.h>
 
 //#define EMCPOSE_PEDANTIC

src/emc/nml_intf/emcpose.h → src/libposemath/emcpose.h

@@ -1,19 +1,44 @@
 /********************************************************************
 * Description: emcpose.h
 *
+*   The EmcPose type and the operations on it.  EmcPose is a pose in the
+*   nine coordinates a machine can have, built out of the pose math types,
+*   and is not an NML message, which is where it used to live.
+*
 *   Derived from a work by Fred Proctor & Will Shackleford
 *
 * Author: Robert W. Ellenberg
 * License: GPL Version 2
 * System: Linux
-*    
+*
 * Copyright (c) 2004 All rights reserved.
 *
 ********************************************************************/
 #ifndef __LINUXCNC_EMCPOSE_H
 #define __LINUXCNC_EMCPOSE_H
 
-#include "emcpos.h"
+#include "posemath.h"		/* PmCartesian */
+
+typedef struct EmcPose {
+    PmCartesian tran;
+    double a, b, c;
+    double u, v, w;
+} EmcPose;
+
+#define ZERO_EMC_POSE(pos) do { \
+(pos).tran.x = 0.0;             \
+(pos).tran.y = 0.0;             \
+(pos).tran.z = 0.0;             \
+(pos).a = 0.0;                  \
+(pos).b = 0.0;                  \
+(pos).c = 0.0;                  \
+(pos).u = 0.0;                  \
+(pos).v = 0.0;                  \
+(pos).w = 0.0; } while(0)
+
+#ifdef __cplusplus
+extern "C" {
+#endif
 
 typedef enum {
     EMCPOSE_ERR_OK = 0,
@@ -48,4 +73,8 @@ int emcPoseMagnitude(EmcPose const * const pose, double * const out);
 
 int emcPoseValid(EmcPose const * const pose);
 
+#ifdef __cplusplus
+}				/* matches extern "C" for C++ */
+#endif
+
 #endif

src/libposemath/gomath.h

@@ -19,9 +19,7 @@
 #ifndef __LINUXCNC_GO_MATH_H
 #define __LINUXCNC_GO_MATH_H
 
-#include <stddef.h>		/* sizeof */
-#include "rtapi_math.h"		/* M_PI */
-#include <float.h>		/* FLT,DBL_MIN,MAX,EPSILON */
+#include <rtapi_math.h>		/* M_PI, NULL, FLT/DBL_MIN,MAX,EPSILON */
 #include "gotypes.h"		/* go_integer,real */
 
 /*! Returns the square of \a x. */

src/libposemath/gotypes.h

@@ -20,7 +20,7 @@
 #ifndef __LINUXCNC_GO_TYPES_H
 #define __LINUXCNC_GO_TYPES_H
 
-#include <float.h>		/* DBL_MAX, FLOAT_MAX */
+#include <rtapi_math.h>		/* DBL_MAX, FLT_MAX */
 
 /*!
   GO_RESULT symbols run through a small range of values, on the