FEATURE: Implement installing CMake scripts for out-of-source-tree build

Install CMake config script files to a base operating system under the `/usr/lib/<gnu-triplet>/cmake/Machinekit-HAL`mount-point for the Debian packaging. Implement missing COMPONENT files for selected targets. (As CMake does not take care of it automatically.) Make sure the 'usercomp.0' runtest is successful.
PocketNC · Dec 22, 2021 · f6a35e6 · f6a35e6
1 parent 53ee7b2
commit f6a35e6
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diff --git a/.github/workflows/debian-builder-workflow.yaml b/.github/workflows/debian-builder-workflow.yaml
@@ -528,7 +528,7 @@ jobs:
           DISTRIBUTION: ${{ matrix.osDistribution}}
           VERSION: ${{ matrix.osVersionCodename}}
           ARCHITECTURE: ${{ matrix.architecture}}
-          BUILD_TARGET: 'machinekit-hal_base'
+          BUILD_TARGET: 'machinekit-hal_builder_base'
           IMAGE_NAME: 'machinekit-hal-runner'
         working-directory: ./build/machinekit-hal
 
@@ -548,7 +548,7 @@ jobs:
               /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
+            run_runtests -v
             "
         env:
           DOCKER_IMAGE: 'docker.pkg.github.com/${{ github.repository }}/machinekit-hal-runner:latest'

diff --git a/.gitignore b/.gitignore
@@ -69,3 +69,6 @@ share/pkgconfig/machinekit-hal.pc
 /packages/
 # install artifacts
 /include/
+# CMake binary tree usual directories
+obj-*
+build
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -87,7 +87,8 @@ 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_INTERFACE_DIRECTORY
+    "${CMAKE_INSTALL_INCLUDEDIR}/${MACHINEKIT_HAL_PACKAGE_PREFIX_PATH}")
 set(MACHINEKIT_HAL_SYSTEM_CONFIG_DIRECTORY
     "${CMAKE_INSTALL_SYSCONFDIR}/${MACHINEKIT_HAL_PACKAGE_PREFIX_PATH}")
 set(MACHINEKIT_HAL_LOCAL_STATE_DIRECTORY "${CMAKE_INSTALL_LOCALSTATEDIR}")

diff --git a/debian/control.in b/debian/control.in
@@ -155,7 +155,9 @@ Description: Universal framework for machine control based on Hardware Abstracti
 Package: python3-machinekit-hal
 Architecture: any
 Multi-Arch: foreign
-Depends: ${shlibs:Depends}, ${misc:Depends}, ${cpack:Depends}, ${python3:Depends}
+Depends: ${shlibs:Depends}, ${misc:Depends}, ${cpack:Depends}, ${python3:Depends},
+    python3-yapps,
+    yapps2
 Description: Machinekit-HAL's Python exacutables
  This package contains the executables written in Python for the Machinekit-HAL project
 

diff --git a/debian/rules b/debian/rules
@@ -102,5 +102,12 @@ else
 	dh_dwz
 endif
 
+# This is hopefully a temporary hack (but HACK nonetheless) to install the CMake configuration files
+# for `find_package()` calls as there is a problem with CPack based installation as outlined
+# in https://discourse.cmake.org/t/installing-cmake-exports-with-cpack/4718 and waiting for an expert help
+override_dh_install:
+	cd debian/tmp && find . -iwholename '*/Machinekit-HAL/*.cmake' -exec mkdir \
+		-p ../libmachinekit-hal-dev/$(dirname {}) \; -exec cp {} ../libmachinekit-hal-dev/{} \;
+
 %:
 	dh $@ --buildsystem=cmake --with=python3
diff --git a/debian/runtests.py b/debian/runtests.py
@@ -43,7 +43,7 @@
 import shutil
 import pathlib
 import tempfile
-from contextlib import nullcontext
+#from contextlib import nullcontext
 from typing import Union, List
 
 import importlib.util
@@ -138,7 +138,7 @@ def run_runtests(self, test_path: pathlib.Path = None) -> None:
                 (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(
@@ -191,21 +191,35 @@ def build(self,
         if target is not None:
             build_additional.append(["--target", target])
 
-        if sudo:
-            _context = sh.contrib.sudo(
-                password=self.sudo_password, _with=True, _out=sys.stdout.buffer)
-        else:
-            _context = nullcontext()
+        # Available only in Python 3.7 and later
+        # if sudo:
+        #    _context = sh.contrib.sudo(
+        #        password=self.sudo_password, _with=True, _out=sys.stdout.buffer)
+        # else:
+        #    _context = nullcontext()
 
         for config in self.configs:
-            with _context:
+            # Until fully supported, use ExitStack
+            # with _context:
+            if not sudo:
                 sh.cmake("--build", self.build_directory,
                          "-j", number_of_cores_string,
                          "--verbose",
                          "--config", config,
                          *build_additional,
                          _out=sys.stdout.buffer)
 
+            else:
+                # Using `sh.contrib.sudo` is not possible because of the old version of `sh`
+                # in Ubuntu Bionic registry
+                sudo_cmd = sh.sudo.bake("-S", _in=self.sudo_password)
+                sudo_cmd.cmake("--build", self.build_directory,
+                               "-j", number_of_cores_string,
+                               "--verbose",
+                               "--config", config,
+                               *build_additional,
+                               _out=sys.stdout.buffer)
+
     def test_for_sudo(self: object) -> bool:
         try:
             sh.dpkg_query("-W", "sudo", _tty_out=False)

diff --git a/src/executables/comp/src/MachinekitHALCompFunction.cmake b/src/executables/comp/src/MachinekitHALCompFunction.cmake
@@ -100,16 +100,14 @@ function(add_legacy_managed_module target_name)
   add_library(${target_name} MODULE)
   target_sources(${target_name} PRIVATE ${preprocessed_c_source_file})
 
-  target_link_libraries(${target_name} PRIVATE hal_api runtime_api)
+  target_link_libraries(${target_name} PRIVATE managed_hal managed_runtime)
 
   if(${prefix}_LINK_LIBRARIES)
     target_link_libraries(${target_name} PRIVATE ${${prefix}_LINK_LIBRARIES})
   endif()
 
   export_rtapi_symbols(TARGET ${target_name})
 
-  target_compile_definitions(${target_name} PRIVATE "RTAPI")
-
   set_target_properties(
     ${target_name} PROPERTIES OUTPUT_NAME "${source_file_stem}" PREFIX "mod")
 
@@ -207,14 +205,12 @@ function(add_legacy_unmanaged_module target_name)
   add_executable(${target_name})
   target_sources(${target_name} PRIVATE ${preprocessed_c_source_file})
 
-  target_link_libraries(${target_name} PRIVATE hal runtime)
+  target_link_libraries(${target_name} PRIVATE unmanaged_hal unmanaged_runtime)
 
   if(${prefix}_LINK_LIBRARIES)
     target_link_libraries(${target_name} PRIVATE ${${prefix}_LINK_LIBRARIES})
   endif()
 
-  target_compile_definitions(${target_name} PRIVATE "ULAPI")
-
   if(${prefix}_OUTPUT_DIRECTORY)
     cmake_path(IS_ABSOLUTE ${prefix}_OUTPUT_DIRECTORY
                output_directory_is_absolute)

diff --git a/src/executables/comp/src/comp.g b/src/executables/comp/src/comp.g
@@ -36,11 +36,11 @@ parser Hal:
     token POP: "[-()+*/]|&&|\\|\\||personality|==|&|!=|<|<=|>|>="
     token TSTRING: "\"\"\"(\\.|\\\n|[^\\\"]|\"(?!\"\")|\n)*\"\"\""
 
-    rule File: ComponentDeclaration Declaration* "$" {{ return True }}
+    rule File: ComponentDeclaration Declaration * "$" {{return True}}
     rule ComponentDeclaration:
-        "component" NAME OptString";" {{ comp(NAME, OptString); }}
+        "component" NAME OptString";" {{comp(NAME, OptString); }}
     rule Declaration:
-        "pin" PINDIRECTION TYPE HALNAME OptArray OptSAssign OptPersonality OptString ";"  {{ pin(HALNAME, TYPE, OptArray, PINDIRECTION, OptString, OptSAssign, OptPersonality) }}
+        "pin" PINDIRECTION TYPE HALNAME OptArray OptSAssign OptPersonality OptString ";"  {{pin(HALNAME, TYPE, OptArray, PINDIRECTION, OptString, OptSAssign, OptPersonality)}}
       | "param" PARAMDIRECTION TYPE HALNAME OptArray OptSAssign OptPersonality OptString ";" {{ param(HALNAME, TYPE, OptArray, PARAMDIRECTION, OptString, OptSAssign, OptPersonality) }}
       | "function" NAME OptFP OptString ";"       {{ function(NAME, OptFP, OptString) }}
       | "variable" NAME STARREDNAME OptSimpleArray OptAssign ";" {{ variable(NAME, STARREDNAME, OptSimpleArray, OptAssign) }}
@@ -256,13 +256,13 @@ def prologue(f):
     f.write("/* Autogenerated by %s -- do not edit */\n" % (
         sys.argv[0]))
     f.write("""\
-#include "runtime/rtapi.h"
-#ifdef RTAPI
-#include "runtime/rtapi_app.h"
-#endif
-#include "runtime/rtapi_string.h"
-#include "runtime/rtapi_errno.h"
-#include "hal/hal.h"
+# include "runtime/rtapi.h"
+# ifdef RTAPI
+# include "runtime/rtapi_app.h"
+# endif
+# include "runtime/rtapi_string.h"
+# include "runtime/rtapi_errno.h"
+# include "hal/hal.h"
 
 static int comp_id;
 """)
@@ -662,9 +662,7 @@ add_executable({module_name})
 target_sources({module_name} PRIVATE {c_source_file})
 
 target_link_libraries({module_name}
-    PRIVATE Machinekit::HAL::hal)
-
-target_compile_definitions({module_name} PRIVATE "ULAPI")
+    PRIVATE Machinekit::HAL::unmanaged_hal)
 
 set_target_properties(
   {module_name}
@@ -726,7 +724,7 @@ def build_usr(tempdir, filename, mode, origfilename, installdir):
         # TODO: Does this really make sense?
         for sofile in tempdir.glob('*.so'):
             shutil.copy(sofile, pathlib.Path.cwd() / sofile.name)
-        #else:
+        # else:
         #    raise SystemExit("Error: Unable to copy module from temporary directory")
 
 cmake_recipe_base_managed = """
@@ -753,13 +751,11 @@ add_library({module_name} MODULE)
 target_sources({module_name} PRIVATE {c_source_file})
 
 target_link_libraries({module_name}
-    PRIVATE Machinekit::HAL::hal_api
-            Machinekit::HAL::runtime_api)
+    PRIVATE Machinekit::HAL::managed_hal
+            Machinekit::HAL::managed_runtime)
 
 export_rtapi_symbols(TARGET {module_name})
 
-target_compile_definitions({module_name} PRIVATE "RTAPI")
-
 set_target_properties(
   {module_name}
   PROPERTIES OUTPUT_NAME "{module_name}"
@@ -821,7 +817,7 @@ def build_rt(tempdir, filename, mode, origfilename, installdir):
         # TODO: Does this really make sense?
         for sofile in tempdir.glob('*.so'):
             shutil.copy(sofile, pathlib.Path.cwd() / sofile.name)
-        #else:
+        # else:
         #    raise SystemExit("Error: Unable to copy module from temporary directory")
 
 ############################################################
@@ -1200,7 +1196,7 @@ def main():
     if outfile and mode != PREPROCESS and mode != DOCUMENT:
         raise SystemExit("Error: Can only specify -o when preprocessing or documenting")
 
-    #if mode == MODINC:
+    # if mode == MODINC:
     #    if args:
     #        raise SystemExit(
     #            "Error: Can not specify input files when using --print-modinc")

diff --git a/src/executables/halcmd/CMakeLists.txt b/src/executables/halcmd/CMakeLists.txt
@@ -35,16 +35,14 @@ if(BUILD_HALCMD_EXECUTABLE)
 
   target_sources(halcmd PRIVATE ${SOURCE_FILES} ${PRIVATE_HEADER_FILES})
 
-  target_compile_definitions(halcmd PRIVATE "ULAPI")
-
   pkg_check_modules(AVAHICLIENT "avahi-client" REQUIRED IMPORTED_TARGET)
   pkg_check_modules(PROTOBUF "protobuf" REQUIRED IMPORTED_TARGET)
 
   # TODO: Needed just because of the config.h??
   target_link_libraries(
     halcmd
-    PRIVATE runtime
-            hal
+    PRIVATE unmanaged_runtime
+            unmanaged_hal
             hal_command
             mkini
             PkgConfig::AVAHICLIENT

diff --git a/src/executables/instcomp/src/MachinekitHALInstcompFunction.cmake b/src/executables/instcomp/src/MachinekitHALInstcompFunction.cmake
@@ -100,16 +100,14 @@ function(add_instantiatable_module target_name)
   add_library(${target_name} MODULE)
   target_sources(${target_name} PRIVATE ${preprocessed_c_source_file})
 
-  target_link_libraries(${target_name} PRIVATE hal_api runtime_api)
+  target_link_libraries(${target_name} PRIVATE managed_hal managed_runtime)
 
   if(${prefix}_LINK_LIBRARIES)
     target_link_libraries(${target_name} PRIVATE ${${prefix}_LINK_LIBRARIES})
   endif()
 
   export_rtapi_symbols(TARGET ${target_name})
 
-  target_compile_definitions(${target_name} PRIVATE "RTAPI")
-
   set_target_properties(
     ${target_name} PROPERTIES OUTPUT_NAME "${source_file_stem}" PREFIX "mod")
 

diff --git a/src/executables/instcomp/src/instcomp.g b/src/executables/instcomp/src/instcomp.g
@@ -1082,13 +1082,11 @@ add_library({module_name} MODULE)
 target_sources({module_name} PRIVATE {c_source_file})
 
 target_link_libraries({module_name}
-    PRIVATE Machinekit::HAL::hal_api
-            Machinekit::HAL::runtime_api)
+    PRIVATE Machinekit::HAL::managed_hal
+            Machinekit::HAL::managed_runtime)
 
 export_rtapi_symbols(TARGET {module_name})
 
-target_compile_definitions({module_name} PRIVATE "RTAPI")
-
 set_target_properties(
   {module_name}
   PROPERTIES OUTPUT_NAME "{module_name}"

diff --git a/src/executables/mksocmemio/CMakeLists.txt b/src/executables/mksocmemio/CMakeLists.txt
@@ -34,9 +34,7 @@ if(CMAKE_SYSTEM_PROCESSOR MATCHES "^arm.*")
 
     target_sources(mksocmemio PRIVATE ${SOURCE_FILES})
 
-    target_link_libraries(mksocmemio PRIVATE runtime_api hal_api)
-
-    target_compile_definitions(mksocmemio PRIVATE "ULAPI")
+    target_link_libraries(mksocmemio PRIVATE unmanaged_runtime unmanaged_hal)
 
     install(TARGETS mksocmemio
             RUNTIME DESTINATION "${MACHINEKIT_HAL_EXECUTABLE_DIRECTORY}"

diff --git a/src/executables/mksocmemio/src/mksocmemio.c b/src/executables/mksocmemio/src/mksocmemio.c
@@ -15,33 +15,6 @@
 #define MAXUIOIDS  100
 #define MAXNAMELEN 256
 
-// filename is printf-style
-int rtapi_fs_read(char *buf, const size_t maxlen, const char *name, ...)
-{
-    char fname[4096];
-    va_list args;
-
-    va_start(args, name);
-    size_t len = vsnprintf(fname, sizeof(fname), name, args);
-    va_end(args);
-
-    if (len < 1)
-    return -EINVAL; // name too short
-
-    int fd, rc;
-    if ((fd = open(fname, O_RDONLY)) >= 0) {
-    rc = read(fd, buf, maxlen);
-    close(fd);
-    if (rc < 0)
-        return -errno;
-    char *s = strchr(buf, '\n');
-    if (s) *s = '\0';
-    return strlen(buf);
-    } else {
-    return -errno;
-    }
-}
-
 static void show_usage(void)
 {
     printf("mksocmemio: Utility to read or write hm2socfpga memory locatons\n");

diff --git a/src/executables/msgd/CMakeLists.txt b/src/executables/msgd/CMakeLists.txt
@@ -43,8 +43,8 @@ if(BUILD_MSGD_EXECUTABLE)
 
   target_link_libraries(
     msgd
-    PRIVATE runtime
-            hal
+    PRIVATE unmanaged_runtime
+            unmanaged_hal
             runtime_memory_api
             mkini
             machinetalk

diff --git a/src/executables/mutexwatch/CMakeLists.txt b/src/executables/mutexwatch/CMakeLists.txt
@@ -36,9 +36,8 @@ if(BUILD_MUTEXWATCH_EXECUTABLE)
   # TODO: Use FindLibRT CMake module or not?
   find_library(RT "rt" REQUIRED)
 
-  target_link_libraries(mutexwatch PRIVATE runtime hal runtime_memory_api ${RT})
-
-  target_compile_definitions(mutexwatch PRIVATE "ULAPI")
+  target_link_libraries(mutexwatch PRIVATE unmanaged_runtime unmanaged_hal
+                                           runtime_memory_api ${RT})
 
   install(TARGETS mutexwatch
           RUNTIME DESTINATION "${MACHINEKIT_HAL_EXECUTABLE_DIRECTORY}"

diff --git a/src/executables/npbdecode/CMakeLists.txt b/src/executables/npbdecode/CMakeLists.txt
@@ -33,7 +33,8 @@ if(BUILD_NPBDECODE_EXECUTABLE)
 
   target_sources(npbdecode PRIVATE ${SOURCE_FILES})
 
-  target_link_libraries(npbdecode PRIVATE machinetalk machinetalk_proto_c)
+  target_link_libraries(npbdecode PRIVATE machinetalk machinetalk_proto_c
+                                          protobuf-nanopb-static)
 
   target_compile_definitions(npbdecode PRIVATE "PB_FIELD_32BIT")