Merge remote-tracking branch 'origin/master' into bump-gcc-std

Author: jepler

.gitattributes

@@ -1,2 +1,3 @@
 *.po merge=pofile
 *.pot merge=pofile
+.github/ export-ignore

.github/workflows/ci.yml

@@ -1,8 +1,5 @@
-# po4a Version 0.57 in ubuntu 20 do not write translated adoc as
-# UTF-8.  Need at least version 0.62 to fix it.
-# Motivations to update:
-#   0.66 to also get fix for empty asciidoc table cells.
-#   0.67 for hard newlines ( +\n) in paragraphs
+# vim: sw=2
+
 name: Build CI
 
 on:
@@ -14,6 +11,7 @@ on:
     types: [rerequested]
 
 jobs:
+
   rip-and-test:
     runs-on: ubuntu-20.04
     steps:
@@ -38,7 +36,7 @@ jobs:
         eatmydata make -O -j$((1+$(nproc))) default pycheck V=1
         # Note that the package build covers html docs
         ../scripts/rip-environment runtests -p
-    
+
   htmldocs:
     runs-on: ubuntu-20.04
     steps:
@@ -65,34 +63,164 @@ jobs:
         eatmydata make -O -j$((1+$(nproc))) docs
         # Note that the package build covers html docs
 
-  package:
-    runs-on: ubuntu-20.04
+  package-arch:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        image: ["debian:buster", "debian:bullseye", "debian:bookworm", "debian:sid"]
+    container:
+      image: ${{ matrix.image }}
+      # IPC_OWNER is needed for shmget IPC_CREAT
+      # SYS_ADMIN is needed for shmctl IPC_SET
+      options: --cpus=2 --cap-add=IPC_OWNER --cap-add=SYS_ADMIN
     steps:
     - name: Dump GitHub context
       env:
         GITHUB_CONTEXT: ${{ toJson(github) }}
       run: echo "$GITHUB_CONTEXT"
-    - uses: actions/checkout@v2
+    - name: Install pre-dependencies
+      env:
+        DEBIAN_FRONTEND: noninteractive
+      run: |
+        set -e
+        set -x
+        apt-get --quiet update
+        # Install stuff needed to check out the linuxcnc repo and turn it into a debian source package.
+        apt-get --yes --quiet install --no-install-suggests git lsb-release python3 devscripts
+
+    - uses: actions/checkout@v3
       with:
-        submodules: true
+        # "fetch-depth: 0" fetches all of history, this is needed by
+        # our build system to determine the version from tags
         fetch-depth: 0
-    - name: Build Debian package
+
+    - name: Add linuxcnc.org deb archive
+      env:
+        DEBIAN_FRONTEND: noninteractive
       run: |
+        set -e
         set -x
-        git fetch --recurse-submodules=no https://github.com/linuxcnc/linuxcnc refs/tags/*:refs/tags/*
-        ./scripts/travis-install-build-deps.sh
-        sudo apt-get install -y eatmydata
-        curl -O https://snapshot.debian.org/archive/debian/20220716T154603Z/pool/main/p/po4a/po4a_0.67-2_all.deb
-        sudo apt install ./po4a_0.67-2_all.deb
-        codename=$(lsb_release -cs)
-        dch --maintmaint --distribution $codename "GitHub test package."
-        eatmydata debian/configure
-        eatmydata debuild -us -uc
-        sudo apt-get install ../*.deb
-        ./scripts/runtests -p tests/
-        eatmydata lintian --info --display-info --pedantic --display-experimental ../linuxcnc*.changes
-        mkdir built-debs
-        cp ../linuxcnc*_* built-debs/
+        apt-get --yes --quiet install --no-install-recommends gpg software-properties-common
+        gpg --homedir="${PWD}/gnupg" --output /etc/apt/trusted.gpg.d/linuxcnc-deb-archive.gpg --export 3CB9FD148F374FEF
+        DIST=$(echo ${{matrix.image}} | cut -d : -f 2)
+        add-apt-repository "deb http://linuxcnc.org $DIST base"
+        apt-get --quiet update
+
+    - name: Build architecture-specific Debian packages
+      env:
+        DEBEMAIL: emc-developers@lists.sourceforge.net
+        DEBFULLNAME: LinuxCNC Github CI Robot
+        DEBIAN_FRONTEND: noninteractive
+      run: |
+        set -e
+        set -x
+        git config --global --add safe.directory "${PWD}"
+        debian/configure
+        debian/update-dch-from-git
+        scripts/get-version-from-git | sed -re 's/^v(.*)$/\1/' >| VERSION; cat VERSION
+        git diff
+        apt-get --yes --quiet build-dep --arch-only .
+        apt-get --yes --quiet install eatmydata
+        eatmydata debuild -us -uc --build=any
+    - name: Test debian packages
+      env:
+        DEBIAN_FRONTEND: noninteractive
+      run: |
+        set -e
+        set -x
+        apt-get --yes --quiet install ../*.deb
+        apt-get --yes --quiet install sudo # some tests run sudo...
+        adduser --disabled-password --gecos "" testrunner
+        passwd -d testrunner
+        adduser testrunner sudo
+        chmod 0777 $(find tests/ -type d) # make test dirs world-writable for the testrunner
+        su -c "./scripts/runtests -p ./tests" testrunner
+    - name: Stage debs for archiving
+      run: |
+        set -e
+        set -x
+        mkdir -p built-debs/$(lsb_release -cs)
+        cp ../linuxcnc*_* built-debs/$(lsb_release -cs)
+    - name: Archive generated Debian packages
+      uses: actions/upload-artifact@v3
+      with:
+        name: debs
+        retention-days: 7
+        path: built-debs/*
+
+  package-indep:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        image: ["debian:buster", "debian:bullseye", "debian:bookworm", "debian:sid"]
+    container:
+      image: ${{ matrix.image }}
+      # IPC_OWNER is needed for shmget IPC_CREAT
+      # SYS_ADMIN is needed for shmctl IPC_SET
+      options: --cpus=2 --cap-add=IPC_OWNER --cap-add=SYS_ADMIN
+    steps:
+    - name: Dump GitHub context
+      env:
+        GITHUB_CONTEXT: ${{ toJson(github) }}
+      run: echo "$GITHUB_CONTEXT"
+
+    - name: Install pre-dependencies
+      env:
+        DEBIAN_FRONTEND: noninteractive
+      run: |
+        set -e
+        set -x
+        apt-get --quiet update
+        # Install stuff needed to check out the linuxcnc repo and turn it into a debian source package.
+        apt-get --yes --quiet install --no-install-suggests git lsb-release python3 devscripts
+
+    - uses: actions/checkout@v3
+      with:
+        # "fetch-depth: 0" fetches all of history, this is needed by
+        # our build system to determine the version from tags
+        fetch-depth: 0
+
+    - name: Add linuxcnc.org deb archive
+      env:
+        DEBIAN_FRONTEND: noninteractive
+      run: |
+        set -e
+        set -x
+        apt-get --yes --quiet install gpg software-properties-common
+        gpg --homedir="${PWD}/gnupg" --output /etc/apt/trusted.gpg.d/linuxcnc-deb-archive.gpg --export 3CB9FD148F374FEF
+        DIST=$(echo ${{matrix.image}} | cut -d : -f 2)
+        add-apt-repository "deb http://linuxcnc.org $DIST base"
+        apt-get --quiet update
+
+    - name: Build architecture-independent Debian packages
+      env:
+        DEBEMAIL: emc-developers@lists.sourceforge.net
+        DEBFULLNAME: LinuxCNC Github CI Robot
+        DEBIAN_FRONTEND: noninteractive
+      run: |
+        set -e
+        set -x
+        git config --global --add safe.directory "${PWD}"
+        debian/configure
+        debian/update-dch-from-git
+        scripts/get-version-from-git | sed -re 's/^v(.*)$/\1/' >| VERSION; cat VERSION
+        git diff
+        apt-get --yes --quiet build-dep --indep-only .
+        apt-get --yes --quiet install eatmydata
+        eatmydata debuild -us -uc --build=all
+    - name: Test install debian packages
+      env:
+        DEBIAN_FRONTEND: noninteractive
+      run: |
+        set -e
+        set -x
+        apt-get --yes --quiet install ../*.deb
+    - name: Stage debs for archiving
+      run: |
+        set -e
+        set -x
+        mkdir -p built-debs/$(lsb_release -cs)
+        cp ../linuxcnc*_* built-debs/$(lsb_release -cs)
     - name: Archive generated PDF files
       uses: actions/upload-artifact@v3
       with:

.gitignore

@@ -13,6 +13,7 @@ build-stamp
 .tmp*
 # Ignore generated html files, 
 /docs/src/*/*.html
+docs/src/hal/components_gen.adoc
 # docs/html/.gitignore is for the html directory
 debian/*.debhelper.log
 rtlib/Module.symvers
@@ -49,10 +50,12 @@ position.txt
 *-new_??.po
 # Ignore stamp files
 *.*-stamp
+# Ignore VSCode settings
+.vscode/settings.json
 # Ignore po4a-generated files for other languages
 docs/help/es/*
 docs/help/fr/*
 docs/help/hu/*
 docs/help/nb/*
 docs/help/vi/*
-docs/help/zh_CN/*
+docs/help/zh_CN/*

configs/sim/axis/db_demo/db.py

@@ -83,7 +83,7 @@
 prog = sys.argv[0]         # this program
 tools = dict()             # tools[tno]: dict of text toollines
 toollist = []              # list of tool numbers
-restore_pocket = dict()    # for nonran toolchanger
+nonran_from_pocket = dict()# use to restore pocket in db
 p0tool = -1                # nonran:-1, ran:-1|0 ==> no tool in spindle
 start_time = 0             # 0 ==> indeterminate
 elapsed_time = 0           # tool time usage
@@ -193,7 +193,7 @@ def save_tools_to_file(fname,comment=""):
     history.append(comment)
     if len(history) > history_max_ct: history=history[1:]
     if len(history):
-        f.write("\n;Recent (last %d) db history:\n"%history_max_ct)
+        f.write("\n; Recent (last %d) db history:\n"%history_max_ct)
         for i in range(len(history)):
             f.write("; %s\n"%history[i])
     f.close()
@@ -202,6 +202,15 @@ def nonran_pno(tno): # simulation rule:
     return tno+pocket_offset # make startup pocket number different than tool number
                              # to avoid assumptions about tno and pno
 
+def nonran_restore_pocket(tno):
+    D = toolline_to_dict(tools[tno],all_letters)
+    D['P'] = nonran_from_pocket[tno]
+    tools[tno] = dict_to_toolline(D,all_letters)
+    if not tno in nonran_from_pocket:
+        umsg("nonran_restore_pocket tno=%d not in dict: %s"%(tno,nonran_from_pocket))
+    #msg("Restore pocket tno:%d pno %s"%(tno,int(D['P'])))
+    del nonran_from_pocket[tno]
+
 def assign_pocket(tno):
     global available_pockets
     if not random_toolchanger:
@@ -355,8 +364,10 @@ def handle_disconnect(fname):
     global disconnect_evt
     if p0tool > 0:
         stop_tool_timer(p0tool)
-        save_tools_to_file(fname,"tno:%3d in spindle at termination"%p0tool)
         msg("!!!Stopped with loaded tool: %d"%p0tool)
+        if not random_toolchanger:
+            nonran_restore_pocket(p0tool)
+        save_tools_to_file(fname,"tno:%3d in spindle at termination"%p0tool)
     msg("disconnected")
     disconnect_evt.set()
 
@@ -389,14 +400,11 @@ def stop_tool_timer(tno):
 
 def update_tool(tno,update_line):
     D = toolline_to_dict(tools[tno],all_letters)
-    savep = D['P']
     for item in toolline_to_list(update_line):
         for l in tletters:
             if l in item: D[l]=item.lstrip(l) #supersede by update_line
-    if not random_toolchanger:
-        if D['P'] != savep and D['P'] != 0:
-             umsg("update_tool(): reject pocket change %s (is:%s)"%(D['P'],savep))
-        D['P'] = savep # nonran handle p0 case
+    if not random_toolchanger and p0tool == tno:
+        D['P'] = '0' # unload uses nonran_from_pocket[]
     tools[tno] = dict_to_toolline(D,all_letters)
 
 def apply_db_rules():
@@ -481,15 +489,14 @@ def user_load_spindle_nonran_tc(tno,params):
     if TMP['P'] != "0": umsg("user_load_spindle_nonran_tc P=%s"%TMP['P'])
     if tno      ==  0:  umsg("user_load_spindle_nonran_tc tno=%d"%tno)
 
-    # save restore_pocket as pocket may have been altered by apply_db_rules()
     D = toolline_to_dict(tools[tno],all_letters)
-    if tno != p0tool: restore_pocket[tno] = D['P'] # avoid reset if redundant load
+
+    # save nonran_from_pocket as pocket may have been altered by apply_db_rules()
+    if tno != p0tool: nonran_from_pocket[tno] = D['P'] # avoid reset if redundant load
 
     if p0tool != -1:  # accrue time for prior tool:
         stop_tool_timer(p0tool)
-        RESTORE = toolline_to_dict(tools[p0tool],all_letters)
-        RESTORE['P'] = restore_pocket[p0tool]
-        tools[p0tool] = dict_to_toolline(RESTORE,all_letters)
+        nonran_restore_pocket(p0tool)
 
     p0tool = tno
     D['T'] = str(tno)
@@ -501,7 +508,7 @@ def user_load_spindle_nonran_tc(tno,params):
 def user_unload_spindle_nonran_tc(tno,params):
     global p0tool
     #msg("user_unload_spindle_nonran_tc p0tool=%d restore=%s'u %s'"%
-    #    (p0tool,restore_pocket,params))
+    #    (p0tool,nonran_from_pocket,params))
     check_params(tno,params)
 
     if p0tool == -1: return # ignore
@@ -510,17 +517,14 @@ def user_unload_spindle_nonran_tc(tno,params):
     if TMP['P']  != "0": umsg("user_unload_spindle_nonran_tc P=%s"%TMP['P'])
 
     stop_tool_timer(p0tool)
-    D = toolline_to_dict(tools[p0tool],all_letters)
-    D['T'] = str(p0tool)
-    D['P'] = restore_pocket[p0tool]
-    tools[p0tool] = dict_to_toolline(D,all_letters)
-
+    nonran_restore_pocket(p0tool)
     p0tool = -1
+
     save_tools_to_file(db_savefile,"tno:%3d (unload from spindle)(empty)"%tno)
 
 def user_load_spindle_ran_tc(tno,params):
     global p0tool
-    #msg("user_load_spindle_ran_tc   'l %s'"%params)
+    #msg("user_load_spindle_ran_tc   'l %s' (p0tool=%d)"%(params,p0tool))
     check_params(tno,params)
 
     D   = toolline_to_dict(tools[tno],all_letters)
@@ -537,26 +541,24 @@ def user_load_spindle_ran_tc(tno,params):
     tools[tno] = dict_to_toolline(D,all_letters)
 
     pno = int(D['P'])
-    msg = "tno:%3d --> pno:%3d (  load to   spindle)"%(tno,pno)
+    txt = "tno:%3d --> pno:%3d (  load to   spindle)"%(tno,pno)
     if tno==0 and pno==0:
-        msg = "tno:%3d --> pno:%3d (  load t0   spindle)(empty)"%(tno,pno)
-    save_tools_to_file(db_savefile,msg)
+        txt = "tno:%3d --> pno:%3d (  load t0   spindle)(empty)"%(tno,pno)
+    save_tools_to_file(db_savefile,txt)
 
 def user_unload_spindle_ran_tc(tno,params):
     global p0tool
-    #msg("user_unload_spindle_ran_tc 'u %s'"%params)
+    #msg("user_unload_spindle_ran_tc 'u %s' (p0tool=%d)"%(params,p0tool))
     check_params(tno,params)
     TMP = toolline_to_dict(params,['T','P'])
     if p0tool == -1:
+        if tno != 0:
+            umsg("user_unload_spindle_ran_tc p0tool=%d tno=%d"%(p0tool,tno))
         D = dict()
         D['T'] = TMP['T']
         D['P'] = TMP['P']
         tools[0] = dict_to_toolline(D,['T','P'])
-        #msg("user_unload_spindle_ran_tc: ignoring for no p0tool")
-        pass
     else:
-        if p0tool == 0:
-            pass
         stop_tool_timer(p0tool)
         D = toolline_to_dict(tools[p0tool],all_letters)
         D['T'] = TMP['T']
@@ -565,10 +567,10 @@ def user_unload_spindle_ran_tc(tno,params):
         p0tool = -1
 
     pno = int(D['P'])
-    msg="tno:%3d --> pno:%3d (unload from spindle)"%(tno,pno)
+    txt="tno:%3d --> pno:%3d (unload from spindle)"%(tno,pno)
     if tno==0:
-        msg="tno:%3d --> pno:%3d (unload from spindle)(notool)"%(tno,pno)
-    save_tools_to_file(db_savefile,msg)
+        txt="tno:%3d --> pno:%3d (unload from spindle)(notool)"%(tno,pno)
+    save_tools_to_file(db_savefile,txt)
 
 #-----------------------------------------------------------
 # begin interface to LinuxCNC