hm2_eth: Create support library's

.github/scripts/install-xenomai.sh

@@ -0,0 +1,37 @@
+#!/bin/bash
+
+set -eu #Needed so CI fails when anything is wrong
+set -x
+
+DIST=$1
+
+if false; then
+    #To install the Xenomai deb's from linuxcnc base (not available right now)
+    .github/scripts/add-linuxcnc-repository.sh "$DIST"
+    sudo apt-get --yes install libxenomai1 libxenomai-dev libevl libevl-dev linux-libc-evl-dev
+else
+    CURLOPTS=( --no-progress-meter --retry-all-errors --retry 5 --retry-delay 2 -fLO )
+    XENOMAI3_DLD="https://github.com/hdiethelm/xenomai3-linuxcnc/releases/download"
+    XENOMAI4_DLD="https://github.com/hdiethelm/xenomai4-linuxcnc/releases/download"
+    #To install the RTAI deb's from NTULINUX git
+    TMPDIR=$(mktemp -d)
+    (
+        cd "$TMPDIR"
+        curl "${CURLOPTS[@]}" "${XENOMAI3_DLD}/xenomai-3.3-6/libxenomai1_3.3-6_amd64.deb"
+        curl "${CURLOPTS[@]}" "${XENOMAI3_DLD}/xenomai-3.3-6/libxenomai-dev_3.3-6_amd64.deb"
+        curl "${CURLOPTS[@]}" "${XENOMAI4_DLD}/libevl-0.59-3/libevl_0.59-3_amd64.deb"
+        curl "${CURLOPTS[@]}" "${XENOMAI4_DLD}/libevl-0.59-3/libevl-dev_0.59-3_amd64.deb"
+        curl "${CURLOPTS[@]}" "${XENOMAI4_DLD}/kernel-6.12.90-cip24-xenomai4-0.59_6.12.90-4/linux-libc-evl-dev_6.12.90-4_amd64.deb"
+    )
+    #dependency
+    sudo apt-get --quiet update
+    sudo apt-get --yes install libbpf1 adduser
+    #packages
+    sudo dpkg -i \
+    "$TMPDIR/libxenomai1_3.3-6_amd64.deb" \
+    "$TMPDIR/libxenomai-dev_3.3-6_amd64.deb" \
+    "$TMPDIR/libevl_0.59-3_amd64.deb" \
+    "$TMPDIR/libevl-dev_0.59-3_amd64.deb" \
+    "$TMPDIR/linux-libc-evl-dev_6.12.90-4_amd64.deb"
+    rm -rf "$TMPDIR"
+fi

.github/scripts/test-xenomai.sh

@@ -0,0 +1,16 @@
+#! /bin/sh
+
+#We can not really test the xenomai runtime as long as the kernel is not running
+#but this would need a VM.
+#What we can do is test if the libraries where built. Due to configure autodetect,
+#this can silently fail.
+
+FILES="lib/liblinuxcnc-uspace-xenomai.so.0 lib/liblinuxcnc-uspace-xenomai-evl.so.0"
+for FILE in $FILES; do
+   if [ ! -f "$FILE" ]; then
+	echo "$FILE not found"
+	exit 1
+   fi
+done
+echo "Xenomai libraries where built"
+exit 0

.github/workflows/ci.yml

@@ -154,6 +154,38 @@ jobs:
       run: |
         .github/scripts/verify-clean-repo.sh
 
+  rip-xenomai:
+    runs-on: ubuntu-24.04
+    timeout-minutes: 45
+    steps:
+    - name: Dump GitHub context
+      env:
+        GITHUB_CONTEXT: ${{ toJson(github) }}
+      run: |
+        echo Number of CPUs: $(nproc)
+        echo "$GITHUB_CONTEXT"
+    - name: Checkout repository
+      uses: actions/checkout@v6
+      with:
+        submodules: false
+        fetch-depth: 1
+    - name: Install dependencies
+      run: |
+        set -x
+        .github/scripts/install-xenomai.sh trixie
+        .github/scripts/install-deps.sh
+    - name: Build RIP Xenomai
+      run: |
+        set -x
+        .github/scripts/build-rip.sh --with-realtime=uspace
+    - name: Verify xenomai build
+      run: |
+        set -x
+        .github/scripts/test-xenomai.sh
+    - name: Verify no untracked or modified files after build
+      run: |
+        .github/scripts/verify-clean-repo.sh
+
   rip-and-test-clang:
     runs-on: ubuntu-24.04
     timeout-minutes: 45

debian/.gitignore

@@ -13,6 +13,8 @@ linuxcnc-doc-*/
 # generated from `.in` by debian/configure
 linuxcnc-uspace.install
 linuxcnc-uspace.manpages
+linuxcnc-uspace-xenomai-evl.install
+linuxcnc-uspace-xenomai.install
 
 *.debhelper
 shlibs.local

debian/configure

@@ -74,6 +74,8 @@ EXTRA_BUILD=
 LIBREADLINE_DEV="libeditreadline-dev"
 
 ENABLE_BUILD_DOCUMENTATION=--enable-build-documentation=pdf
+BUILD_XENOMAI=false
+BUILD_XENOMAI_EVL=false
 
 # Specialize these based on DISTRIB_NAME as needed
 # These do not run-time depend on a specific package because
@@ -82,10 +84,24 @@ ENABLE_BUILD_DOCUMENTATION=--enable-build-documentation=pdf
 
 while test $# -ne 0; do
     case "$1" in
-    sim|uspace|noauto) echo "I: Argument $1 is accepted for compatibility, but ignored";;
-    help|-h|--help) usage; exit 0 ;;
-    no-docs|nodocs|nodoc|no-doc) unset ENABLE_BUILD_DOCUMENTATION ;;
-    *)  echo 1>&2 "Unknown option: $1"
+    sim|uspace|noauto)
+        echo "I: Argument $1 is accepted for compatibility, but ignored"
+        ;;
+    help|-h|--help)
+        usage;
+        exit 0
+        ;;
+    no-docs|nodocs|nodoc|no-doc)
+        unset ENABLE_BUILD_DOCUMENTATION
+        ;;
+    xenomai)
+        BUILD_XENOMAI=true;
+        ;;
+    xenomai-evl)
+        BUILD_XENOMAI_EVL=true;
+        ;;
+    *)  
+        echo 1>&2 "Unknown option: $1"
         echo 1>&2
         usage
         exit 99 ;;
@@ -206,6 +222,18 @@ fi
 
 subst control.top.in > control
 
+if $BUILD_XENOMAI; then
+    echo >> control
+    subst control.uspace-xenomai.in >> control
+    subst linuxcnc-uspace-xenomai.install.in > linuxcnc-uspace-xenomai.install
+fi
+
+if $BUILD_XENOMAI_EVL; then
+    echo >> control
+    subst control.uspace-xenomai-evl.in >> control
+    subst linuxcnc-uspace-xenomai-evl.install.in > linuxcnc-uspace-xenomai-evl.install
+fi
+
 echo >> control
 subst control.main-pkg.in >> control
 

debian/control.uspace-xenomai-evl.in

@@ -0,0 +1,9 @@
+Package: @MAIN_PACKAGE_NAME@-xenomai-evl
+Architecture: any
+Depends: ${shlibs:Depends}, ${misc:Depends}
+Description: PC based motion controller for real-time Linux
+ LinuxCNC is the next-generation Enhanced Machine Controller which
+ provides motion control for CNC machine tools and robotic
+ applications (milling, cutting, routing, etc.).
+ .
+ This package contains extra files for use with Xenomai EVL realtime kernels.

debian/control.uspace-xenomai.in

@@ -1,5 +1,5 @@
 Package: @MAIN_PACKAGE_NAME@-xenomai
-Architecture: @XENOMAI_ARCHITECTURE@
+Architecture: any
 Depends: ${shlibs:Depends}, ${misc:Depends}
 Description: PC based motion controller for real-time Linux
  LinuxCNC is the next-generation Enhanced Machine Controller which

debian/linuxcnc-uspace-xenomai-evl.install.in

@@ -0,0 +1,2 @@
+/usr/lib/liblinuxcnc-uspace-xenomai-evl.so.0
+/usr/lib/liblinuxcnc-hm2_eth_net_evl.so.0

debian/linuxcnc-uspace-xenomai.install.in

@@ -0,0 +1 @@
+/usr/lib/liblinuxcnc-uspace-xenomai.so.0

debian/linuxcnc.install.in

@@ -111,7 +111,15 @@ usr/bin/xyzab-tdr-gui
 usr/bin/xyzac-trt-gui
 usr/bin/xyzbc-trt-gui
 
-usr/lib/lib*.so.*
+usr/lib/liblinuxcnchal.so.0
+usr/lib/liblinuxcnc-uspace-posix.so.0
+usr/lib/libpyplugin.so.0
+usr/lib/libnml.so.0
+usr/lib/librs274.so.0
+usr/lib/liblinuxcncini.so.1
+usr/lib/libposemath.so.0
+usr/lib/libtooldata.so.0
+
 usr/lib/linuxcnc
 usr/lib/python3
 usr/share/tcltk

debian/not-installed

@@ -0,0 +1,2 @@
+#No package for uspace-rtai for now
+usr/lib/liblinuxcnc-uspace-rtai.so.0

src/Makefile

@@ -1080,11 +1080,8 @@ hm2_pci-objs  :=			  \
     $(MATHSTUB)
 hm2_eth-objs  :=			  \
     hal/drivers/mesa-hostmot2/hm2_eth.o   \
-    hal/drivers/mesa-hostmot2/hm2_eth_net_posix.o
-ifeq ($(CONFIG_USPACE_XENOMAI_EVL),y)
-hm2_eth-objs  += hal/drivers/mesa-hostmot2/hm2_eth_net_evl.o
-endif
-hm2_eth-objs  += $(MATHSTUB)
+    hal/drivers/mesa-hostmot2/hm2_eth_net_posix.o \
+    $(MATHSTUB)
 hm2_spi-objs  :=			  \
     hal/drivers/mesa-hostmot2/hm2_spi.o   \
     hal/drivers/mesa-hostmot2/llio_info.o \
@@ -1329,7 +1326,7 @@ modules: $(patsubst %.o,../rtlib/%.so,$(obj-m))
 	$(Q)objdump -w -j .rtapi_export -t objects/$*.tmp \
 	| awk 'BEGIN{print "{ global :"} /rtapi_exported_/{printf("%s;\n", substr($$6,16))} END{print "local : * ; };"}' \
 	> objects/$*.ver
-	$(Q)$(CC) -shared -Bsymbolic -Wl,--version-script,objects/$*.ver -o $@ $^ -lm $(XENOMAI_EVL_LDFLAGS) $(LDFLAGS)
+	$(Q)$(CC) -shared -Bsymbolic -Wl,--version-script,objects/$*.ver -o $@ $^ -lm $(LDFLAGS)
 	$(Q)chmod -x $@
 
 RTFLAGS += -fno-strict-aliasing -fwrapv
@@ -1340,7 +1337,7 @@ $(sort $(filter-out objects/rtemc/tp/cruckig/%,$(RTOBJS))) : objects/rt%.o : %.c
 	@rm -f $@
 	@mkdir -p $(dir $@)
 	$(Q)$(CC) -c $(OPT) $(DEBUG) $(EXTRA_DEBUG) -DRTAPI \
-		$(EXTRA_CFLAGS) $(XENOMAI_EVL_CFLAGS) \
+		$(EXTRA_CFLAGS) \
 		-MP -MD -MF "${@:.o=.d}" -MT "$@" \
 		$< -o $@
 

src/hal/drivers/Submakefile

@@ -39,3 +39,15 @@ modules:                                                         \
     hal/drivers/pluto_step_rbf.h
 endif
 
+
+ifeq ($(CONFIG_USPACE_XENOMAI_EVL),y)
+NET_EVL_SRCS := hal/drivers/mesa-hostmot2/hm2_eth_net_evl.c
+USERSRCS += $(NET_EVL_SRCS)
+$(call TOOBJSDEPS, $(NET_EVL_SRCS)): EXTRAFLAGS += -fPIC $(XENOMAI_EVL_CFLAGS)
+../lib/liblinuxcnc-hm2_eth_net_evl.so.0: $(call TOOBJS, $(NET_EVL_SRCS))
+	$(ECHO) Linking $(notdir $@)
+	$(Q)$(CXX) -shared $(LDFLAGS) -o $@ $^ $(XENOMAI_EVL_LDFLAGS) -Wl,-soname,$(notdir $@)
+TARGETS += ../lib/liblinuxcnc-hm2_eth_net_evl.so.0
+TARGETS += ../lib/liblinuxcnc-hm2_eth_net_evl.so
+endif
+