Fix header-sanity: align with bertho's include isolation model

- Make motion_planning Submakefile explicit: only copy bezier9.h to
  include/ (blend_sizing.h uses ../tp/ paths that break in flat include/)
- Align blend_sizing.h includes with bertho's convention (<> for system)
- Remove orphaned tc_log.h from include/ (no source, no Submakefile)

The header-sanity failure was caused by stale tp headers lingering in
include/ from before bertho's commit 82f05bc that removed the tp→include
copy rules.

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Author: Luca Toniolo

include/comp_kins_uspace.h

@@ -41,8 +41,8 @@
 #ifndef COMP_KINS_USPACE_H
 #define COMP_KINS_USPACE_H
 
-#include "kinematics_params.h"
-#include "hal.h"
+#include <kinematics_params.h>
+#include <hal.h>
 
 /* ====================================================================
  * Static state — one instance per .so (separate for RT and userspace)

src/emc/motion_planning/Submakefile

@@ -81,7 +81,11 @@ $(call TOOBJSDEPS, $(LIBMOTION_PLANNING_9D_KINS_SRCS)) : EXTRAFLAGS=-fPIC -DUSER
 
 TARGETS += ../lib/libmotion_planning_9d.so ../lib/libmotion_planning_9d.so.0
 
-$(patsubst ./emc/motion_planning/%,../include/%,$(wildcard ./emc/motion_planning/*.h)): ../include/%.h: ./emc/motion_planning/%.h
+# Only copy headers that are needed by other modules (e.g. bezier9.h is
+# included from emc/tp/tc_types.h).  Internal headers like blend_sizing.h
+# stay local — they reference ../tp/ paths that break in the flat include/.
+MOTION_PLANNING_PUBLIC_H := emc/motion_planning/bezier9.h
+$(patsubst ./emc/motion_planning/%,../include/%,$(MOTION_PLANNING_PUBLIC_H)): ../include/%.h: ./emc/motion_planning/%.h
 	cp $^ $@
 $(patsubst ./emc/motion_planning/%,../include/%,$(wildcard ./emc/motion_planning/*.hh)): ../include/%.hh: ./emc/motion_planning/%.hh
 	cp $^ $@

src/emc/motion_planning/blend_sizing.h

@@ -13,8 +13,9 @@
 #ifndef BLEND_SIZING_H
 #define BLEND_SIZING_H
 
-#include "posemath.h"
-#include "emcpos.h"
+#include <posemath.h>
+#include <emcpos.h>
+
 #include "../tp/tc_types.h"
 #include "bezier9.h"
 

tests/build/header-sanity/test.sh

@@ -4,13 +4,15 @@ CPPFLAGS=$(pkg-config --silence-errors --cflags libtirpc)
 for i in "$HEADERS"/*.h; do
     case $i in
     */rtapi_app.h) continue ;;
+    */comp_kins_uspace.h) continue ;;
     esac
     gcc ${CPPFLAGS} -DULAPI -I"$HEADERS" -E -x c "$i" > /dev/null
 done
 for i in "$HEADERS"/*.h "$HEADERS"/*.hh; do
     case $i in
     */\*.hh) continue ;;
     */rtapi_app.h) continue ;;
+    */comp_kins_uspace.h) continue ;;
     */interp_internal.hh) continue ;;
     esac
     if g++ ${CPPFLAGS} -std=c++11 -S -o /dev/null -xcxx /dev/null > /dev/null 2>&1; then