Pull request for branch xenomai-rtai

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"Thomas" == Thomas Petazzoni <[email protected]> writes:

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"Thomas" == Thomas Petazzoni <[email protected]> writes:

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"Thomas" == Thomas Petazzoni <[email protected]> writes:

Signed-off-by Thomas Petazzoni <[email protected]>

---
?package/xenomai/Config.in ?| ? 37 +++++++++++++++++++++++++++++++++++++ ?package/xenomai/xenomai.mk | ? 19 +++++++++++++++++++
?2 files changed, 56 insertions(+), 0 deletions(-)

package/xenomai/Config.in +0 -0

index 3749a60..cfeaa04 100644
@@ -119,4 +119,41 @@ config BR2_PACKAGE_XENOMAI_ANALOGY

? ? ? ? ?This option allows to install the Xenomai Analogy utilities ? ? ? ? ?and libraries

package/xenomai/Config.in +37 -0

+config BR2_PACKAGE_XENOMAI_NATIVE_SKIN
+ ? ? ? bool "Native skin library"
+ ? ? ? default y
+ ? ? ? help
+ ? ? ? ?This option allows to install the Native Xenomai skin
+
+config BR2_PACKAGE_XENOMAI_POSIX_SKIN
+ ? ? ? bool "POSIX skin library"
+ ? ? ? default y
+ ? ? ? help
+ ? ? ? ?This option allows to install the POSIX Xenomai skin
+
+config BR2_PACKAGE_XENOMAI_VXWORKS_SKIN
+ ? ? ? bool "VX-Works skin library"
+ ? ? ? help
+ ? ? ? ?This option allows to install the VX-Works Xenomai skin
+
+config BR2_PACKAGE_XENOMAI_PSOS_SKIN
+ ? ? ? bool "PSOS skin library"
+ ? ? ? help
+ ? ? ? ?This option allows to install the PSOS Xenomai skin
+
+config BR2_PACKAGE_XENOMAI_RTAI_SKIN
+ ? ? ? bool "RTAI skin library"
+ ? ? ? help
+ ? ? ? ?This option allows to install the RTAI Xenomai skin
+
+config BR2_PACKAGE_XENOMAI_UITRON_SKIN
+ ? ? ? bool "uiTron skin library"
+ ? ? ? help
+ ? ? ? ?This option allows to install the uiTron Xenomai skin
+
+config BR2_PACKAGE_XENOMAI_VRTX_SKIN
+ ? ? ? bool "VRTX skin library"
+ ? ? ? help
+ ? ? ? ?This option allows to install the VRTX Xenomai skin
+

?endif

package/xenomai/xenomai.mk +0 -0

index fff2c5d..52e0b4e 100644
@@ -103,6 +103,25 @@ endef

?XENOMAI_POST_INSTALL_TARGET_HOOKS += XENOMAI_REMOVE_ANALOGY ?endif

package/xenomai/xenomai.mk +19 -0

+XENOMAI_REMOVE_SKIN_LIST += $(if $(BR2_PACKAGE_XENOMAI_NATIVE_SKIN),,native)
+XENOMAI_REMOVE_SKIN_LIST += $(if $(BR2_PACKAGE_XENOMAI_POSIX_SKIN),,posix)
+XENOMAI_REMOVE_SKIN_LIST += $(if $(BR2_PACKAGE_XENOMAI_VXWORKS_SKIN),,vxworks)
+XENOMAI_REMOVE_SKIN_LIST += $(if $(BR2_PACKAGE_XENOMAI_PSOS_SKIN),,psos)
+XENOMAI_REMOVE_SKIN_LIST += $(if $(BR2_PACKAGE_XENOMAI_RTAI_SKIN),,rtai)
+XENOMAI_REMOVE_SKIN_LIST += $(if $(BR2_PACKAGE_XENOMAI_UITRON_SKIN),,uitron)
+XENOMAI_REMOVE_SKIN_LIST += $(if $(BR2_PACKAGE_XENOMAI_VRTX_SKIN),,vrtx)
+
+define XENOMAI_REMOVE_SKINS
+ ? ? ? for i in $(XENOMAI_REMOVE_SKIN_LIST) ; do \
+ ? ? ? ? ? ? ? rm -f $(TARGET_DIR)/usr/xenomai/lib/lib$$i.* ; \
+ ? ? ? ? ? ? ? if [ $$i == "posix" ] ; then \
+ ? ? ? ? ? ? ? ? ? ? ? rm -f $(TARGET_DIR)/usr/xenomai/lib/posix.wrappers ; \
+ ? ? ? ? ? ? ? fi ; \
+ ? ? ? done
+endef
+
+XENOMAI_POST_INSTALL_TARGET_HOOKS += XENOMAI_REMOVE_SKINS
+

?define XENOMAI_ADD_LD_SO_CONF
? ? ? ?# Add /usr/xenomai/lib in the library search path ? ? ? ?grep -q "^/usr/xenomai/lib" $(TARGET_DIR)/etc/ld.so.conf || \
--
1.7.4.1

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Maybe it should be clarified somewhere that this only impacts the inclusion of the userspace skin library. To be able to use a particular skin, you still need to enable it in the kernel configuration.

Or maybe it's better to make these options have impact on the linux configuration as well ?

Le Mon, 19 Sep 2011 10:24:27 +0200,
Thomas De Schampheleire <[email protected]> a ?crit :

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Maybe it should be clarified somewhere that this only impacts the inclusion of the userspace skin library. To be able to use a particular skin, you still need to enable it in the kernel configuration.

Yes, correct, I'll add that.

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Or maybe it's better to make these options have impact on the linux configuration as well ?

I don't like too much having packages that interfere with the kernel configuration, because it's a nightmare: when iptables is compiled, we would need to ensure that kernel support is available, same for xfsprogs, for v4l-utils, for input-tools, etc ?

Our policy has been that the user needs to be aware of what (s)he is doing, especially when it comes to making sure that the kernel configuration appropriately matches the requirement of userspace applications and libraries.

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"Thomas" == Thomas Petazzoni <[email protected]> writes:

Currently, the dependency chain is :

?configure -> patch
?patch -> extract
?extract -> depends
?depends -> source + dependencies ready

This is a problem for RTAI, as :

?* In linux/linux-ext-rtai.mk, we need the RTAI source code to be ? extracted/patched by the RTAI package, so we need to have a ? dependency on RTAI.

?* The RTAI package cannot have its configure step executed before the ? Linux kernel is built, because it needs the kernel source code to ? be extracted and configured.

Therefore, we have a sort of circular dependency. We solve this circular dependency by having the RTAI kernel part depending on rtai-patch, and having the RTAI userspace part depending on the linux package. However, for this to work, we have to modify the dependency chain to:

?configure -> patch + depends
?patch -> extract
?extract -> source
?depends -> dependencies ready

Which means that dependencies are guaranteed to be built not when the package is extracted, but when the package is configured. Which is technically more correct that what we were doing in the past.

Signed-off-by Thomas Petazzoni <[email protected]>

---
?package/Makefile.package.in | ? ?6 +++---
?1 files changed, 3 insertions(+), 3 deletions(-)

package/Makefile.package.in +0 -0

index 0751144..66be0a2 100644

package/Makefile.package.in +2 -2

 ?$(1)-patch: ? ? ? ? ? ?$(1)-extract $$($(2)_TARGET_PATCH)
 
-$(1)-extract: ? ? ? ? ?$(1)-depends \
+$(1)-extract: ? ? ? ? ?$(1)-source \
 ? ? ? ? ? ? ? ? ? ? ? ?$$($(2)_TARGET_EXTRACT)
 
-$(1)-depends: ? ? ? ? ?$(1)-source $$($(2)_DEPENDENCIES)
+$(1)-depends: ? ? ? ? ?$$($(2)_DEPENDENCIES)
 

?$(1)-show-depends:
? ? ? ? ? ? ? ? ? ? ? ?@echo $$($(2)_DEPENDENCIES) --
1.7.4.1

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I'm experiencing a problem now with Xenomai:
* First of all, there was no dependencies to linux anymore in the Xenomai .mk file, which caused incorrect ordering of builds. To address this, I copied the approach of RTAI that Thomas added (add a linux dependency to xenomai-patch and add a xenomai dependency to linux).

* after this, I stumbled upon another problem: if I removed both the linux and the xenomai output directories, and ran make, then linux was the first to come into play. After extraction of linux, the PRE_PATCH hook of xenomai is executed, but Xenomai is not yet extracted! Indeed, the current dependency tree does not enforce this.
I can fix my scenario by changing the order of -patch and -depends :

-$(1)-configure: $(1)-patch $(1)-depends \
+$(1)-configure: $(1)-depends $(1)-patch \

but I'm not sure whether this breaks other cases... What do you think?

Le Wed, 28 Sep 2011 16:13:00 +0200,
Thomas De Schampheleire <[email protected]> a ?crit :

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I'm experiencing a problem now with Xenomai:
* First of all, there was no dependencies to linux anymore in the Xenomai .mk file, which caused incorrect ordering of builds. To address this, I copied the approach of RTAI that Thomas added (add a linux dependency to xenomai-patch and add a xenomai dependency to linux).

Normally, the Xenomai package in package/xenomai/ does not depend on Linux being extracted/configured/compiled. It's the opposite: the Linux build process depends on the Xenomai package to be extracted, so that the package can be applied.

The case of RTAI is different, because the kernel modules of RTAI are built by package/rtai/, so RTAI depends on Linux.

Could you expand on which problem you have when the Xenomai package in package/xenomai does not depend on Linux ?

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* after this, I stumbled upon another problem: if I removed both the linux and the xenomai output directories, and ran make, then linux was the first to come into play. After extraction of linux, the PRE_PATCH hook of xenomai is executed, but Xenomai is not yet extracted! Indeed, the current dependency tree does not enforce this.
I can fix my scenario by changing the order of -patch and -depends :

-$(1)-configure: ? ? ? ? ? ? ? ?$(1)-patch $(1)-depends \
+$(1)-configure: ? ? ? ? ? ? ? ?$(1)-depends $(1)-patch \

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but I'm not sure whether this breaks other cases... What do you think?

Aaaah, yes, dammit. Technically speaking, it's a bit ugly that the patch step of one package depends on the dependencies being available. This needs some more thought I guess...

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* after this, I stumbled upon another problem: if I removed both the linux and the xenomai output directories, and ran make, then linux was the first to come into play. After extraction of linux, the PRE_PATCH hook of xenomai is executed, but Xenomai is not yet extracted! Indeed, the current dependency tree does not enforce this.
I can fix my scenario by changing the order of -patch and -depends :

-$(1)-configure: $(1)-patch $(1)-depends \
+$(1)-configure: $(1)-depends $(1)-patch \

but I'm not sure whether this breaks other cases... What do you think?

Quoted 3 lines

Aaaah, yes, dammit. Technically speaking, it's a bit ugly that the patch step of one package depends on the dependencies being available. This needs some more thought I guess...

Ok.
One solution would be to first extract all packages, and then do all the rest, but I guess you don't think this is cleaner...

Quoted 35 lines · Thomas De Schampheleire

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* after this, I stumbled upon another problem: if I removed both the

linux and the xenomai output directories, and ran make, then linux was

the first to come into play. After extraction of linux, the PRE_PATCH

hook of xenomai is executed, but Xenomai is not yet extracted! Indeed,

the current dependency tree does not enforce this.

I can fix my scenario by changing the order of -patch and -depends :

-$(1)-configure: ? ? ? ? ? ? ? ?$(1)-patch $(1)-depends \

Quoted 7 lines

+$(1)-configure: ? ? ? ? ? ? ? ?$(1)-depends $(1)-patch \

but I'm not sure whether this breaks other cases...

What do you think?

Quoted 5 lines

Aaaah, yes, dammit. Technically speaking, it's a bit ugly that the

patch step of one package depends on the dependencies being available.

This needs some more thought I guess...

Ok.

Quoted 3 lines

One solution would be to first extract all packages, and then do all

the rest, but I guess you don't think this is cleaner...

Or you could split the depends step in a depends-extract and depends-install step. A package's extract step would then depend on the extracts of all the packages it depends on. Or am I completely confused now? :-)

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"Thomas" == Thomas Petazzoni <[email protected]> writes:

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"Thomas" == Thomas Petazzoni <[email protected]>

Thomas> Signed-off-by: Thomas Petazzoni
<[email protected]> Thomas> ---

 Thomas>  linux/Config.ext.in     |   13 +++++++++++++
 Thomas>  linux/linux-ext-rtai.mk |   47
+++++++++++++++++++++++++++++++++++++++++++++++ Thomas>  package/Config.in
      |    1 +
 Thomas>  package/rtai/Config.in  |    2 ++
 Thomas>  package/rtai/rtai.mk    |   16 ++++++++++++++++
 Thomas>  5 files changed, 79 insertions(+), 0 deletions(-)
 Thomas>  create mode 100644 linux/linux-ext-rtai.mk
 Thomas>  create mode 100644 package/rtai/Config.in
 Thomas>  create mode 100644 package/rtai/rtai.mk

Thomas> +++ b/package/rtai/Config.in
Thomas> @@ -0,0 +1,2 @@
Thomas> +config BR2_PACKAGE_RTAI
Thomas> + bool "rtai"

Wrong indentation, no help text and should depend on BR2_LINUX_KERNEL_EXT_RTAI.

I've fixed that and committed, thanks.

Hello,

Here is a patch set that adds the Xenomai and RTAI real-time extensions of the Linux kernel. The Xenomai patches come from Thomas de Schampheleire, who himself took them from Beno?t Mauduit. Those patches have been improved further, taking into account comments from Arnout, and adding some more features (ability to remove test programs, RT-CAN programs, Analogy programs, and select which skins should be installed).

The RTAI real-time extension is also added. It is not well supported on architectures others than x86/x86-64, but can be useful on those architectures. However, its integration required a small change in the package infrastructure, described in detail in its commit log.

Regards,

Thomas

The following changes since commit 16d6e9b3420e78a89960b8b68202ea46a618810d:

?Makefile.autotools.in: fix autoreconf libtool patching after libtool move (2011-09-17 14:16:42 +0200)

are available in the git repository at:
?http://free-electrons.com/~thomas/buildroot.git xenomai-rtai

Thomas De Schampheleire (2):
? ? ?linux: Add Linux Kernel extensions menu
? ? ?Add xenomai real-time Framework to buildroot

Thomas Petazzoni (6):
? ? ?xenomai: add support to keep or remove testsuite programs ? ? ?xenomai: add support to keep or remove RT-CAN utilities ? ? ?xenomai: add support to keep or remove Analogy utilities and libs ? ? ?xenomai: add support to keep or remove skins
? ? ?package: change ordering of steps
? ? ?Add support for the RTAI real-time extension

?linux/Config.ext.in ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ?| ? 31 ++++
?linux/Config.in ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ?| ? ?4 +
?linux/linux-ext-rtai.mk ? ? ? ? ? ? ? ? ? ? ? ? ? ?| ? 47 ++++++
?linux/linux-ext-xenomai.mk ? ? ? ? ? ? ? ? ? ? ? ? | ? 30 ++++
?linux/linux.mk ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? | ? ?2 +
?package/Config.in ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ?| ? ?5 +
?package/Makefile.package.in ? ? ? ? ? ? ? ? ? ? ? ?| ? ?6 +-
?package/rtai/Config.in ? ? ? ? ? ? ? ? ? ? ? ? ? ? | ? ?2 +
?package/rtai/rtai.mk ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? | ? 16 ++
?package/xenomai/Config.in ? ? ? ? ? ? ? ? ? ? ? ? ?| ?159 ++++++++++++++++++++
?.../xenomai/xenomai-do-not-install-devices.patch ? | ? 11 ++
?package/xenomai/xenomai.mk ? ? ? ? ? ? ? ? ? ? ? ? | ?159 ++++++++++++++++++++
?target/generic/device_table_dev.txt ? ? ? ? ? ? ? ?| ? ?5 +

?13 files changed, 474 insertions(+), 3 deletions(-)
?create mode 100644 linux/Config.ext.in
?create mode 100644 linux/linux-ext-rtai.mk
?create mode 100644 linux/linux-ext-xenomai.mk
?create mode 100644 package/rtai/Config.in
?create mode 100644 package/rtai/rtai.mk
?create mode 100644 package/xenomai/Config.in
?create mode 100644 package/xenomai/xenomai-do-not-install-devices.patch ?create mode 100644 package/xenomai/xenomai.mk

Thanks,
--
Thomas Petazzoni
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Just one little point concerning ld.so.conf management :
We can use for further developpement a conf.d mechanism :
'/etc/ld.so.conf' which include "/etc/ld.so.conf.d/*.conf"

Hello,

Here is a patch set that adds the Xenomai and RTAI real-time extensions of the Linux kernel. The Xenomai patches come from Thomas de Schampheleire, who himself took them from Beno?t Mauduit. Those patches have been improved further, taking into account comments from Arnout, and adding some more features (ability to remove test programs, RT-CAN programs, Analogy programs, and select which skins should be installed).

The RTAI real-time extension is also added. It is not well supported on architectures others than x86/x86-64, but can be useful on those architectures. However, its integration required a small change in the package infrastructure, described in detail in its commit log.

Regards,

Thomas

The following changes since commit 16d6e9b3420e78a89960b8b68202ea46a618810d:

?Makefile.autotools.in: fix autoreconf libtool patching after libtool move (2011-09-17 14:16:42 +0200)

are available in the git repository at:
?http://free-electrons.com/~thomas/buildroot.git xenomai-rtai

Thomas De Schampheleire (2):
? ? ?linux: Add Linux Kernel extensions menu
? ? ?Add xenomai real-time Framework to buildroot

Thomas Petazzoni (6):
? ? ?xenomai: add support to keep or remove testsuite programs ? ? ?xenomai: add support to keep or remove RT-CAN utilities ? ? ?xenomai: add support to keep or remove Analogy utilities and libs ? ? ?xenomai: add support to keep or remove skins
? ? ?package: change ordering of steps
? ? ?Add support for the RTAI real-time extension

?linux/Config.ext.in ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ?| ? 31 ++++
?linux/Config.in ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ?| ? ?4 +
?linux/linux-ext-rtai.mk ? ? ? ? ? ? ? ? ? ? ? ? ? ?| ? 47 ++++++
?linux/linux-ext-xenomai.mk ? ? ? ? ? ? ? ? ? ? ? ? | ? 30 ++++
?linux/linux.mk ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? | ? ?2 +
?package/Config.in ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ?| ? ?5 +
?package/Makefile.package.in ? ? ? ? ? ? ? ? ? ? ? ?| ? ?6 +-
?package/rtai/Config.in ? ? ? ? ? ? ? ? ? ? ? ? ? ? | ? ?2 +
?package/rtai/rtai.mk ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? | ? 16 ++
?package/xenomai/Config.in ? ? ? ? ? ? ? ? ? ? ? ? ?| ?159 ++++++++++++++++++++
?.../xenomai/xenomai-do-not-install-devices.patch ? | ? 11 ++
?package/xenomai/xenomai.mk ? ? ? ? ? ? ? ? ? ? ? ? | ?159 ++++++++++++++++++++
?target/generic/device_table_dev.txt ? ? ? ? ? ? ? ?| ? ?5 +

?13 files changed, 474 insertions(+), 3 deletions(-)
?create mode 100644 linux/Config.ext.in
?create mode 100644 linux/linux-ext-rtai.mk
?create mode 100644 linux/linux-ext-xenomai.mk
?create mode 100644 package/rtai/Config.in
?create mode 100644 package/rtai/rtai.mk
?create mode 100644 package/xenomai/Config.in
?create mode 100644 package/xenomai/xenomai-do-not-install-devices.patch ?create mode 100644 package/xenomai/xenomai.mk

Thanks,
--
Thomas Petazzoni