FEATURE: Bulk of Debian packaging

Implementation of the main set of Debian packages for executables, libraries, development files, modules and test-suites for Machinekit-HAL via the CPack.

This does not implement the Python related parts.

.github/workflows/debian-builder-workflow.yaml

@@ -511,6 +511,49 @@ jobs:
           name: machinekit-hal-${{ env.distribution_normalized }}-${{ matrix.architecture }}-${{ matrix.osVersionNumber }}-${{ github.sha }}-${{ needs.prepareState.outputs.Timestamp }}
           path: machinekit-hal-${{ env.distribution_normalized }}
 
+      - name: >
+          Prepare base Docker image for installation of packages
+          of Machinekit-HAL on ${{ matrix.osDistribution }} 
+          ${{ matrix.osVersionCodename}}
+        if: matrix.architecture == 'amd64'
+        run: |
+          debian/buildcontainerimage.py -d ${IMAGE_NAME_PREFIX} \
+                                           ${DISTRIBUTION}      \
+                                           ${VERSION}           \
+                                           ${ARCHITECTURE}      \
+                                        -t ${BUILD_TARGET}      \
+                                           ${IMAGE_NAME}
+        env:
+          IMAGE_NAME_PREFIX: 'docker.pkg.github.com/${{ github.repository }}'
+          DISTRIBUTION: ${{ matrix.osDistribution}}
+          VERSION: ${{ matrix.osVersionCodename}}
+          ARCHITECTURE: ${{ matrix.architecture}}
+          BUILD_TARGET: 'machinekit-hal_base'
+          IMAGE_NAME: 'machinekit-hal-runner'
+        working-directory: ./build/machinekit-hal
+
+      - name: >
+          Install Machinekit-HAL ${{ matrix.osDistribution }} package for
+          ${{ matrix.osVersionCodename}}, ${{ matrix.architecture }} and
+          run Runtests
+        if: matrix.architecture == 'amd64'
+        run: |
+          docker run --tty --rm -u "$(id -u):$(id -g)" \
+            -v "$(pwd):/home/machinekit/machinekit-hal" \
+            -w "/home/machinekit/machinekit-hal" \
+            ${DOCKER_IMAGE} \
+            /bin/bash -c "
+            #!/bin/bash -e
+            sudo apt-get install -y \
+              /home/machinekit/machinekit-hal/*.deb
+            echo "ANNOUNCE_IPV4=0" | sudo tee -a /etc/machinekit/hal/machinekit.ini
+            echo "ANNOUNCE_IPV6=0" | sudo tee -a /etc/machinekit/hal/machinekit.ini
+            run_runtests
+            "
+        env:
+          DOCKER_IMAGE: 'docker.pkg.github.com/${{ github.repository }}/machinekit-hal-runner:latest'
+        working-directory: './machinekit-hal-${{ env.distribution_normalized }}'
+
   testMachinekitHALBuild:
     name: >
       Test on ${{ matrix.osDistribution }} ${{ matrix.osVersionCodename }},

CMakeLists.txt

@@ -24,14 +24,14 @@
 # #####################################################################
 # ~~~
 
-cmake_minimum_required(VERSION 3.20)
+cmake_minimum_required(VERSION 3.21)
 
 set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
 set(CMAKE_EXPORT_LINK_COMMANDS TRUE)
 
 project(
   Machinekit-HAL
-  VERSION 0.4 # TODO: Get the right version from VERSION file and git
+  VERSION 0.5 # TODO: Get the right version from VERSION file and git
   DESCRIPTION "Universal framework for machine control."
   HOMEPAGE_URL "https://machinekit.io"
   LANGUAGES C CXX)
@@ -59,13 +59,17 @@ set(MACHINEKIT_HAL_LIBRARY_DIRECTORY "${CMAKE_INSTALL_LIBDIR}")
 set(MACHINEKIT_HAL_MANAGED_MODULE_DIRECTORY
     "${CMAKE_INSTALL_LIBDIR}/${MACHINEKIT_HAL_PACKAGE_PREFIX_PATH}/module/managed"
 )
+set(MACHINEKIT_HAL_UNMANAGED_MODULE_DIRECTORY
+    "${MACHINEKIT_HAL_EXECUTABLE_DIRECTORY}")
 set(MACHINEKIT_HAL_INTERNAL_EXECUTABLE_DIRECTORY
     "${CMAKE_INSTALL_LIBEXECDIR}/${MACHINEKIT_HAL_PACKAGE_PREFIX_PATH}")
 set(MACHINEKIT_HAL_INTERFACE_DIRECTORY "${CMAKE_INSTALL_INCLUDEDIR}")
 set(MACHINEKIT_HAL_SYSTEM_CONFIG_DIRECTORY
     "${CMAKE_INSTALL_SYSCONFDIR}/${MACHINEKIT_HAL_PACKAGE_PREFIX_PATH}")
 set(MACHINEKIT_HAL_LOCAL_STATE_DIRECTORY "${CMAKE_INSTALL_LOCALSTATEDIR}")
-set(MACHINEKIT_HAL_TEST_DIRECTORY "test")
+set(MACHINEKIT_HAL_TEST_DIRECTORY
+    "${CMAKE_INSTALL_DATAROOTDIR}/${MACHINEKIT_HAL_PACKAGE_PREFIX_PATH}/testsuite"
+)
 
 list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/support/cmake/tools")
 
@@ -94,6 +98,14 @@ define_property(
 add_subdirectory(src)
 
 # Main package CPack groups
+cpack_add_component_group(MachinekitHAL_Package_Base_Executables)
 cpack_add_component_group(MachinekitHAL_Package_Base_Libraries)
 cpack_add_component_group(MachinekitHAL_Package_Base_Libraries_Development)
 cpack_add_component_group(MachinekitHAL_Package_Base_Managed_Modules_Components)
+cpack_add_component_group(MachinekitHAL_Package_Base_Managed_Modules_Drivers)
+cpack_add_component_group(
+  MachinekitHAL_Package_Base_Managed_Modules_Drivers_Development)
+cpack_add_component_group(
+  MachinekitHAL_Package_Base_Unmanaged_Modules_Components)
+cpack_add_component_group(MachinekitHAL_Package_Base_Unmanaged_Modules_Drivers)
+cpack_add_component_group(MachinekitHAL_Package_Base_Tests_Runtests)

VERSION

@@ -1 +1 @@
-0.4
+0.5

debian/buildsystem/Dockerfile

@@ -52,6 +52,14 @@ RUN printf "%s;\n%s;\n"                 \
     'APT::Install-Suggests "0"'         \
     > /etc/apt/apt.conf.d/01norecommend
 
+# Ubuntu Focal needs debconf settings in addition
+# to setting 'DEBIAN_FRONTEND=noninteractive'
+RUN apt-get update &&                                                              \
+    apt-get install -y                                                             \
+        apt-utils &&                                                               \
+    apt-get clean &&                                                               \
+    echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
+
 # Add Machinekit Dependencies repository
 RUN apt-get update &&                                                             \
     apt-get install -y                                                            \

debian/buildsystem/debian-distro-settings.json

@@ -40,6 +40,10 @@
       "osVersionNumber": 10,
       "architecture": "i386"
     },
+    {
+      "osVersionNumber": 11,
+      "architecture": "i386"
+    },
     {
       "osVersionNumber": 18.04,
       "architecture": "amd64"
@@ -48,6 +52,10 @@
       "osVersionNumber": 10,
       "architecture": "amd64"
     },
+    {
+      "osVersionNumber": 11,
+      "architecture": "amd64"
+    },
     {
       "osVersionNumber": 20.04,
       "architecture": "amd64"
@@ -64,6 +72,10 @@
       "osVersionNumber": 10,
       "architecture": "armhf"
     },
+    {
+      "osVersionNumber": 11,
+      "architecture": "armhf"
+    },
     {
       "osVersionNumber": 20.04,
       "architecture": "armhf"
@@ -80,6 +92,10 @@
       "osVersionNumber": 10,
       "architecture": "arm64"
     },
+    {
+      "osVersionNumber": 11,
+      "architecture": "arm64"
+    },
     {
       "osVersionNumber": 20.04,
       "architecture": "arm64"

debian/control.in

@@ -65,70 +65,91 @@ Package: libmachinekit-hal
 Architecture: any
 Multi-Arch: same
 Depends: ${shlibs:Depends}, ${misc:Depends}, ${cpack:Depends}
-Description: dh-cmake example - libraries
+Description: Machinekit-HAL's libraries
  This package contains the shared libraries for the Machinekit-HAL project.
 
 Package: libmachinekit-hal-dev
 Architecture: any
 Multi-Arch: same
 Depends: ${shlibs:Depends}, ${misc:Depends}, ${cpack:Depends}
-Description: dh-cmake example - libraries
+Description: Machinekit-HAL's libraries - development files
  This package contains the development files for libraries of the Machinekit-HAL project.
 
 Package: modmachinekit-hal-components
 Architecture: any
 Multi-Arch: same
 Depends: ${shlibs:Depends}, ${misc:Depends}, ${cpack:Depends}
-Description: dh-cmake example - libraries
+Description: Machinekit-HAL's managed modules - components
  This package contains the managed modules - components for the Machinekit-HAL project.
 
-#Package: modmachinekit-hal-drivers
-#Architecture: any
-#Multi-Arch: same
-#Depends: ${shlibs:Depends}, ${misc:Depends}
-#Description: dh-cmake example - libraries
-# This package contains the managed modules - drivers for the Machinekit-HAL project.
-#
-#Package: machinekit-hal-unmanaged-modules
-#Architecture: any
-#Multi-Arch: same
-#Depends: ${shlibs:Depends}, ${misc:Depends}
-#Description: dh-cmake example - libraries
-# This package contains the unmanaged modules for the Machinekit-HAL project.
-#
-#Package: machinekit-hal
-#Conflicts: machinekit
-#Architecture: any
-#Depends: 
-#    ${shlibs:Depends},
-#    ${python3:Depends},
-#    ${misc:Depends},
-#    python3-numpy,
-#    libmodbus-dev (>= 3.0),
-#    python3-xlib,
-#    python3-configobj,
-#    python3-zmq,
-#    python3-protobuf (>= 2.4.1),
-#    python3-avahi,
-#    python3-simplejson,
-#    python3-pyftpdlib,
-#    python3-pydot,
-#    xdot,
-#    bc,
-#    procps,
-#    psmisc,
-#    cgroup-tools,
-#    python3-pil,
-#    python3-gst-1.0,
-#    uuid-runtime,
-#    python3-setproctitle,
-#    @RUNTIME_DEPENDENCIES@,
-#Description: Universal framework for machine control based on Hardware Abstraction Layer principle
-#    .
-#    Machinekit is the next-generation Machine Controller.  It provides
-#    motion and other control for atomation, robot and CNC machine tool
-#    applications.
-#
+Package: modmachinekit-hal-drivers
+Architecture: any
+Multi-Arch: same
+Depends: ${shlibs:Depends}, ${misc:Depends}, ${cpack:Depends}
+Description: Machinekit-HAL's managed modules - drivers
+ This package contains the managed modules - drivers for the Machinekit-HAL project.
+
+Package: modmachinekit-hal-drivers-dev
+Architecture: any
+Multi-Arch: same
+Depends: ${shlibs:Depends}, ${misc:Depends}, ${cpack:Depends}
+Description: Machinekit-HAL's managed modules - drivers, development files
+ This package contains the development files for managed modules - drivers for the Machinekit-HAL project.
+
+Package: machinekit-hal-unmanaged-components
+Architecture: any
+Multi-Arch: same
+Depends: ${shlibs:Depends}, ${misc:Depends}, ${cpack:Depends}
+Description: Machinekit-HAL's unmanaged modules - components
+ This package contains the unmanaged modules - components for the Machinekit-HAL project.
+
+Package: machinekit-hal-unmanaged-drivers
+Architecture: any
+Multi-Arch: same
+Depends: ${shlibs:Depends}, ${misc:Depends}, ${cpack:Depends}
+Description: Machinekit-HAL's unmanaged modules - drivers
+ This package contains the unmanaged modules - drivers for the Machinekit-HAL project.
+
+Package: machinekit-hal-testsuite-runtests
+Architecture: any
+Depends: ${shlibs:Depends}, ${misc:Depends}, ${cpack:Depends}
+Description: Machinekit-HAL's runtests (acceptance tests)
+ This package contains the unmanaged modules - drivers for the Machinekit-HAL project.
+
+Package: machinekit-hal
+Conflicts: machinekit
+Architecture: any
+Depends: 
+    ${shlibs:Depends},
+    ${python3:Depends},
+    ${misc:Depends},
+    ${cpack:Depends},
+    python3-numpy,
+    libmodbus-dev (>= 3.0),
+    python3-xlib,
+    python3-configobj,
+    python3-zmq,
+    python3-protobuf (>= 2.4.1),
+    python3-avahi,
+    python3-simplejson,
+    python3-pyftpdlib,
+    python3-pydot,
+    xdot,
+    bc,
+    procps,
+    psmisc,
+    cgroup-tools,
+    python3-pil,
+    python3-gst-1.0,
+    uuid-runtime,
+    python3-setproctitle,
+    @RUNTIME_DEPENDENCIES@,
+Description: Universal framework for machine control based on Hardware Abstraction Layer principle
+    .
+    Machinekit is the next-generation Machine Controller.  It provides
+    motion and other control for atomation, robot and CNC machine tool
+    applications.
+
 #Package: machinekit-hal-dev
 #Architecture: any
 #Depends: 

debian/machinekit-hal-testsuite-runtests.cpack-component-groups

@@ -0,0 +1 @@
+MachinekitHAL_Package_Base_Tests_Runtests

debian/machinekit-hal-unmanaged-components.cpack-component-groups

@@ -0,0 +1 @@
+MachinekitHAL_Package_Base_Unmanaged_Modules_Components

debian/machinekit-hal-unmanaged-drivers.cpack-component-groups

@@ -0,0 +1 @@
+MachinekitHAL_Package_Base_Unmanaged_Modules_Drivers

debian/machinekit-hal.cpack-component-groups

@@ -0,0 +1 @@
+MachinekitHAL_Package_Base_Executables

debian/modmachinekit-hal-drivers-dev.cpack-component-groups

@@ -0,0 +1 @@
+MachinekitHAL_Package_Base_Managed_Modules_Drivers_Development

debian/modmachinekit-hal-drivers.cpack-component-groups

@@ -0,0 +1 @@
+MachinekitHAL_Package_Base_Managed_Modules_Drivers

debian/rules

@@ -26,7 +26,8 @@
 
 override_dh_auto_configure:
 	dh_auto_configure -- \
-		--toolchain $(shell dirname $(realpath $(firstword $(MAKEFILE_LIST))))/debianMultiarchToolchain.cmake
+		--toolchain $(shell dirname $(realpath $(firstword $(MAKEFILE_LIST))))/debianMultiarchToolchain.cmake \
+		-DCMAKE_BUILD_TYPE:STRING=DebWithRelInfo
 
 override_dh_auto_test:
 #	Only run tests (CTest) when not cross-compiling

debian/runtests.py

@@ -128,30 +128,22 @@ def _envrc_path(self, config: str) -> pathlib.Path:
         else:
             return self.build_directory / ".envrc"
 
-    def _prepare_run_runtests_executable(self, new_path: pathlib.Path) -> pathlib.Path:
-        run_runtests = self.source_directory / "tests" / "run_runtests"
-        new_run_runtests = new_path / "run_runtests"
-        shutil.copyfile(run_runtests, new_run_runtests)
-        new_run_runtests.chmod(stat.S_IWUSR | stat.S_IRUSR | stat.S_IXUSR)
-        return new_run_runtests
-
     def run_runtests(self, test_path: pathlib.Path = None) -> None:
-        if test_path is None:
-            test_path = self.source_directory / "tests" / "runtests"
-        else:
+        if test_path:
             test_path = test_path if isinstance(
                 test_path, pathlib.Path) else pathlib.Path(test_path)
         for config in self.configs:
+            config_test_path = self.build_directory / config if self.generator == "Ninja Multi-Config" else "." / \
+                "share" / "machinekit" / "hal" / "testsuite" / \
+                "runtests" if test_path is None else test_path
             test_directory = pathlib.Path(tempfile.mkdtemp(suffix=config))
             destination = test_directory / "runtests"
             print(
                 f"--->Tests for config {config} are run in directory {destination}.<---"
                 "\n====================================")
-            shutil.copytree(test_path, destination, ignore=shutil.ignore_patterns(
+            shutil.copytree(config_test_path, destination, ignore=shutil.ignore_patterns(
                 'pipe-*', 'result', 'strerr'))
-            run_runtests = self._prepare_run_runtests_executable(
-                test_directory)
-            bash_command_string = f". {self._envrc_path(config)}; {run_runtests} {destination}"
+            bash_command_string = f". {self._envrc_path(config)}; run_runtests {destination}"
             sh.bash("-c", bash_command_string,
                     _out=sys.stdout.buffer, _err=sys.stderr.buffer)
 
@@ -279,7 +271,7 @@ def main(args):
     if exception:
         print("Machinekit-HAL test suite FAILED!")
         sys.exit(1)
-    
+
     print("Machinekit-HAL test suite ran successfully!")
 
 

lefthook.yml

@@ -1,6 +1,6 @@
 # EXAMPLE USAGE
 # Refer for explanation to following link:
-# https://github.com/Arkweid/lefthook/blob/master/docs/full_guide.md
+# https://github.com/evilmartians/lefthook/blob/master/docs/full_guide.md
 #
 # pre-push:
 #   commands: