[Emc-commit] [LinuxCNC/linuxcnc] 38b676: Replace C++ Ruckig with pure C cruckig to fix RTAI...

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  Branch: refs/heads/master
  Home:   https://github.com/LinuxCNC/linuxcnc
  Commit: 38b67623ae970658bb3767d43a8e228d9da66fbb
      https://github.com/LinuxCNC/linuxcnc/commit/38b67623ae970658bb3767d43a8e228d9da66fbb
  Author: Luca Toniolo <lu...@ai...>
  Date:   2026-03-31 (Tue, 31 Mar 2026)

  Changed paths:
    M debian/copyright
    M src/Makefile
    M src/emc/motion-logger/Submakefile
    A src/emc/tp/cruckig/LICENSE
    A src/emc/tp/cruckig/block.c
    A src/emc/tp/cruckig/block.h
    A src/emc/tp/cruckig/brake.c
    A src/emc/tp/cruckig/brake.h
    A src/emc/tp/cruckig/calculator.c
    A src/emc/tp/cruckig/calculator.h
    A src/emc/tp/cruckig/cruckig.c
    A src/emc/tp/cruckig/cruckig.h
    A src/emc/tp/cruckig/cruckig_internal.h
    A src/emc/tp/cruckig/input_parameter.c
    A src/emc/tp/cruckig/input_parameter.h
    A src/emc/tp/cruckig/output_parameter.c
    A src/emc/tp/cruckig/output_parameter.h
    A src/emc/tp/cruckig/position.h
    A src/emc/tp/cruckig/position_first_step1.c
    A src/emc/tp/cruckig/position_first_step2.c
    A src/emc/tp/cruckig/position_second_step1.c
    A src/emc/tp/cruckig/position_second_step2.c
    A src/emc/tp/cruckig/position_third_step1.c
    A src/emc/tp/cruckig/position_third_step2.c
    A src/emc/tp/cruckig/profile.c
    A src/emc/tp/cruckig/profile.h
    A src/emc/tp/cruckig/result.h
    A src/emc/tp/cruckig/roots.c
    A src/emc/tp/cruckig/roots.h
    A src/emc/tp/cruckig/trajectory.c
    A src/emc/tp/cruckig/trajectory.h
    A src/emc/tp/cruckig/utils.h
    A src/emc/tp/cruckig/velocity.h
    A src/emc/tp/cruckig/velocity_second_step1.c
    A src/emc/tp/cruckig/velocity_second_step2.c
    A src/emc/tp/cruckig/velocity_third_step1.c
    A src/emc/tp/cruckig/velocity_third_step2.c
    R src/emc/tp/ruckig/.github/workflows/cd.yml
    R src/emc/tp/ruckig/.github/workflows/ci.yml
    R src/emc/tp/ruckig/.gitignore
    R src/emc/tp/ruckig/CITATION.cff
    R src/emc/tp/ruckig/CMakeLists.txt
    R src/emc/tp/ruckig/LICENSE
    R src/emc/tp/ruckig/README.md
    R src/emc/tp/ruckig/cmake/ruckig-config.cmake.in
    R src/emc/tp/ruckig/doc/benchmark.png
    R src/emc/tp/ruckig/doc/example_profile.png
    R src/emc/tp/ruckig/doc/ruckig_toppra_example.png
    R src/emc/tp/ruckig/examples/01_position.cpp
    R src/emc/tp/ruckig/examples/01_position.py
    R src/emc/tp/ruckig/examples/02_position_offline.cpp
    R src/emc/tp/ruckig/examples/02_position_offline.py
    R src/emc/tp/ruckig/examples/03_waypoints.cpp
    R src/emc/tp/ruckig/examples/03_waypoints.py
    R src/emc/tp/ruckig/examples/04_waypoints_online.cpp
    R src/emc/tp/ruckig/examples/04_waypoints_online.py
    R src/emc/tp/ruckig/examples/05_velocity.cpp
    R src/emc/tp/ruckig/examples/05_velocity.py
    R src/emc/tp/ruckig/examples/06_stop.cpp
    R src/emc/tp/ruckig/examples/06_stop.py
    R src/emc/tp/ruckig/examples/07_minimum_duration.cpp
    R src/emc/tp/ruckig/examples/07_minimum_duration.py
    R src/emc/tp/ruckig/examples/08_per_section_minimum_duration.cpp
    R src/emc/tp/ruckig/examples/08_per_section_minimum_duration.py
    R src/emc/tp/ruckig/examples/09_dynamic_dofs.cpp
    R src/emc/tp/ruckig/examples/09_dynamic_dofs.py
    R src/emc/tp/ruckig/examples/10_dynamic_dofs_waypoints.cpp
    R src/emc/tp/ruckig/examples/10_dynamic_dofs_waypoints.py
    R src/emc/tp/ruckig/examples/11_eigen_vector_type.cpp
    R src/emc/tp/ruckig/examples/11_eigen_vector_type.py
    R src/emc/tp/ruckig/examples/12_custom_vector_type.cpp
    R src/emc/tp/ruckig/examples/12_custom_vector_type.py
    R src/emc/tp/ruckig/examples/13_custom_vector_type_dynamic_dofs.cpp
    R src/emc/tp/ruckig/examples/13_custom_vector_type_dynamic_dofs.py
    R src/emc/tp/ruckig/examples/14_tracking.cpp
    R src/emc/tp/ruckig/examples/14_tracking.py
    R src/emc/tp/ruckig/examples/CMakeLists-directory.txt
    R src/emc/tp/ruckig/examples/CMakeLists-installed.txt
    R src/emc/tp/ruckig/examples/plotter.py
    R src/emc/tp/ruckig/include/ruckig/block.hpp
    R src/emc/tp/ruckig/include/ruckig/brake.hpp
    R src/emc/tp/ruckig/include/ruckig/calculator.hpp
    R src/emc/tp/ruckig/include/ruckig/calculator_cloud.hpp
    R src/emc/tp/ruckig/include/ruckig/calculator_target.hpp
    R src/emc/tp/ruckig/include/ruckig/error.hpp
    R src/emc/tp/ruckig/include/ruckig/input_parameter.hpp
    R src/emc/tp/ruckig/include/ruckig/optional.hpp
    R src/emc/tp/ruckig/include/ruckig/output_parameter.hpp
    R src/emc/tp/ruckig/include/ruckig/position.hpp
    R src/emc/tp/ruckig/include/ruckig/profile.hpp
    R src/emc/tp/ruckig/include/ruckig/result.hpp
    R src/emc/tp/ruckig/include/ruckig/roots.hpp
    R src/emc/tp/ruckig/include/ruckig/ruckig.hpp
    R src/emc/tp/ruckig/include/ruckig/trajectory.hpp
    R src/emc/tp/ruckig/include/ruckig/utils.hpp
    R src/emc/tp/ruckig/include/ruckig/velocity.hpp
    R src/emc/tp/ruckig/package.xml
    R src/emc/tp/ruckig/pyproject.toml
    R src/emc/tp/ruckig/src/ruckig/brake.cpp
    R src/emc/tp/ruckig/src/ruckig/cloud_client.cpp
    R src/emc/tp/ruckig/src/ruckig/position_first_step1.cpp
    R src/emc/tp/ruckig/src/ruckig/position_first_step2.cpp
    R src/emc/tp/ruckig/src/ruckig/position_second_step1.cpp
    R src/emc/tp/ruckig/src/ruckig/position_second_step2.cpp
    R src/emc/tp/ruckig/src/ruckig/position_third_step1.cpp
    R src/emc/tp/ruckig/src/ruckig/position_third_step2.cpp
    R src/emc/tp/ruckig/src/ruckig/python.cpp
    R src/emc/tp/ruckig/src/ruckig/velocity_second_step1.cpp
    R src/emc/tp/ruckig/src/ruckig/velocity_second_step2.cpp
    R src/emc/tp/ruckig/src/ruckig/velocity_third_step1.cpp
    R src/emc/tp/ruckig/src/ruckig/velocity_third_step2.cpp
    R src/emc/tp/ruckig/test/benchmark_target.cpp
    R src/emc/tp/ruckig/test/randomizer.hpp
    R src/emc/tp/ruckig/test/test_target.cpp
    R src/emc/tp/ruckig/third_party/doctest/LICENSE
    R src/emc/tp/ruckig/third_party/doctest/doctest.h
    R src/emc/tp/ruckig/third_party/httplib/LICENSE
    R src/emc/tp/ruckig/third_party/httplib/httplib.h
    R src/emc/tp/ruckig/third_party/nlohmann/LICENSE
    R src/emc/tp/ruckig/third_party/nlohmann/json.hpp
    M src/emc/tp/ruckig_wrapper.c
    R src/emc/tp/ruckig_wrapper.cc
    M src/emc/tp/tc.c
    M src/emc/tp/tp.c

  Log Message:
  -----------
  Replace C++ Ruckig with pure C cruckig to fix RTAI builds

The C++ Ruckig library cannot compile in RTAI kernel space (no C++
in kernel modules). Replace it with cruckig, a pure C99 port that
produces identical trajectories (validated to 5.9e-12 position error).

- Vendor cruckig source (MIT license) from github.com/mika4128/cruckig
- Rewrite ruckig_wrapper.c to use cruckig API (same ruckig_wrapper.h
  interface, zero changes needed in tp.c, tc.c, sp_scurve.c)
- Add cruckig_compat.h for RTAPI kernel/userspace portability
  (rtapi_slab.h for malloc/free, rtapi_math.h for math functions)
- Update Makefile and motion-logger Submakefile for C-only build
- Remove C++ Ruckig source tree and ruckig_wrapper.cc

Fixes: https://github.com/LinuxCNC/linuxcnc/issues/3875

  Commit: d2c5120deee07409883891713bfe5f96a2538221
      https://github.com/LinuxCNC/linuxcnc/commit/d2c5120deee07409883891713bfe5f96a2538221
  Author: andypugh <an...@bo...>
  Date:   2026-04-04 (Sat, 04 Apr 2026)

  Changed paths:
    M debian/copyright
    M src/Makefile
    M src/emc/motion-logger/Submakefile
    A src/emc/tp/cruckig/LICENSE
    A src/emc/tp/cruckig/block.c
    A src/emc/tp/cruckig/block.h
    A src/emc/tp/cruckig/brake.c
    A src/emc/tp/cruckig/brake.h
    A src/emc/tp/cruckig/calculator.c
    A src/emc/tp/cruckig/calculator.h
    A src/emc/tp/cruckig/cruckig.c
    A src/emc/tp/cruckig/cruckig.h
    A src/emc/tp/cruckig/cruckig_internal.h
    A src/emc/tp/cruckig/input_parameter.c
    A src/emc/tp/cruckig/input_parameter.h
    A src/emc/tp/cruckig/output_parameter.c
    A src/emc/tp/cruckig/output_parameter.h
    A src/emc/tp/cruckig/position.h
    A src/emc/tp/cruckig/position_first_step1.c
    A src/emc/tp/cruckig/position_first_step2.c
    A src/emc/tp/cruckig/position_second_step1.c
    A src/emc/tp/cruckig/position_second_step2.c
    A src/emc/tp/cruckig/position_third_step1.c
    A src/emc/tp/cruckig/position_third_step2.c
    A src/emc/tp/cruckig/profile.c
    A src/emc/tp/cruckig/profile.h
    A src/emc/tp/cruckig/result.h
    A src/emc/tp/cruckig/roots.c
    A src/emc/tp/cruckig/roots.h
    A src/emc/tp/cruckig/trajectory.c
    A src/emc/tp/cruckig/trajectory.h
    A src/emc/tp/cruckig/utils.h
    A src/emc/tp/cruckig/velocity.h
    A src/emc/tp/cruckig/velocity_second_step1.c
    A src/emc/tp/cruckig/velocity_second_step2.c
    A src/emc/tp/cruckig/velocity_third_step1.c
    A src/emc/tp/cruckig/velocity_third_step2.c
    R src/emc/tp/ruckig/.github/workflows/cd.yml
    R src/emc/tp/ruckig/.github/workflows/ci.yml
    R src/emc/tp/ruckig/.gitignore
    R src/emc/tp/ruckig/CITATION.cff
    R src/emc/tp/ruckig/CMakeLists.txt
    R src/emc/tp/ruckig/LICENSE
    R src/emc/tp/ruckig/README.md
    R src/emc/tp/ruckig/cmake/ruckig-config.cmake.in
    R src/emc/tp/ruckig/doc/benchmark.png
    R src/emc/tp/ruckig/doc/example_profile.png
    R src/emc/tp/ruckig/doc/ruckig_toppra_example.png
    R src/emc/tp/ruckig/examples/01_position.cpp
    R src/emc/tp/ruckig/examples/01_position.py
    R src/emc/tp/ruckig/examples/02_position_offline.cpp
    R src/emc/tp/ruckig/examples/02_position_offline.py
    R src/emc/tp/ruckig/examples/03_waypoints.cpp
    R src/emc/tp/ruckig/examples/03_waypoints.py
    R src/emc/tp/ruckig/examples/04_waypoints_online.cpp
    R src/emc/tp/ruckig/examples/04_waypoints_online.py
    R src/emc/tp/ruckig/examples/05_velocity.cpp
    R src/emc/tp/ruckig/examples/05_velocity.py
    R src/emc/tp/ruckig/examples/06_stop.cpp
    R src/emc/tp/ruckig/examples/06_stop.py
    R src/emc/tp/ruckig/examples/07_minimum_duration.cpp
    R src/emc/tp/ruckig/examples/07_minimum_duration.py
    R src/emc/tp/ruckig/examples/08_per_section_minimum_duration.cpp
    R src/emc/tp/ruckig/examples/08_per_section_minimum_duration.py
    R src/emc/tp/ruckig/examples/09_dynamic_dofs.cpp
    R src/emc/tp/ruckig/examples/09_dynamic_dofs.py
    R src/emc/tp/ruckig/examples/10_dynamic_dofs_waypoints.cpp
    R src/emc/tp/ruckig/examples/10_dynamic_dofs_waypoints.py
    R src/emc/tp/ruckig/examples/11_eigen_vector_type.cpp
    R src/emc/tp/ruckig/examples/11_eigen_vector_type.py
    R src/emc/tp/ruckig/examples/12_custom_vector_type.cpp
    R src/emc/tp/ruckig/examples/12_custom_vector_type.py
    R src/emc/tp/ruckig/examples/13_custom_vector_type_dynamic_dofs.cpp
    R src/emc/tp/ruckig/examples/13_custom_vector_type_dynamic_dofs.py
    R src/emc/tp/ruckig/examples/14_tracking.cpp
    R src/emc/tp/ruckig/examples/14_tracking.py
    R src/emc/tp/ruckig/examples/CMakeLists-directory.txt
    R src/emc/tp/ruckig/examples/CMakeLists-installed.txt
    R src/emc/tp/ruckig/examples/plotter.py
    R src/emc/tp/ruckig/include/ruckig/block.hpp
    R src/emc/tp/ruckig/include/ruckig/brake.hpp
    R src/emc/tp/ruckig/include/ruckig/calculator.hpp
    R src/emc/tp/ruckig/include/ruckig/calculator_cloud.hpp
    R src/emc/tp/ruckig/include/ruckig/calculator_target.hpp
    R src/emc/tp/ruckig/include/ruckig/error.hpp
    R src/emc/tp/ruckig/include/ruckig/input_parameter.hpp
    R src/emc/tp/ruckig/include/ruckig/optional.hpp
    R src/emc/tp/ruckig/include/ruckig/output_parameter.hpp
    R src/emc/tp/ruckig/include/ruckig/position.hpp
    R src/emc/tp/ruckig/include/ruckig/profile.hpp
    R src/emc/tp/ruckig/include/ruckig/result.hpp
    R src/emc/tp/ruckig/include/ruckig/roots.hpp
    R src/emc/tp/ruckig/include/ruckig/ruckig.hpp
    R src/emc/tp/ruckig/include/ruckig/trajectory.hpp
    R src/emc/tp/ruckig/include/ruckig/utils.hpp
    R src/emc/tp/ruckig/include/ruckig/velocity.hpp
    R src/emc/tp/ruckig/package.xml
    R src/emc/tp/ruckig/pyproject.toml
    R src/emc/tp/ruckig/src/ruckig/brake.cpp
    R src/emc/tp/ruckig/src/ruckig/cloud_client.cpp
    R src/emc/tp/ruckig/src/ruckig/position_first_step1.cpp
    R src/emc/tp/ruckig/src/ruckig/position_first_step2.cpp
    R src/emc/tp/ruckig/src/ruckig/position_second_step1.cpp
    R src/emc/tp/ruckig/src/ruckig/position_second_step2.cpp
    R src/emc/tp/ruckig/src/ruckig/position_third_step1.cpp
    R src/emc/tp/ruckig/src/ruckig/position_third_step2.cpp
    R src/emc/tp/ruckig/src/ruckig/python.cpp
    R src/emc/tp/ruckig/src/ruckig/velocity_second_step1.cpp
    R src/emc/tp/ruckig/src/ruckig/velocity_second_step2.cpp
    R src/emc/tp/ruckig/src/ruckig/velocity_third_step1.cpp
    R src/emc/tp/ruckig/src/ruckig/velocity_third_step2.cpp
    R src/emc/tp/ruckig/test/benchmark_target.cpp
    R src/emc/tp/ruckig/test/randomizer.hpp
    R src/emc/tp/ruckig/test/test_target.cpp
    R src/emc/tp/ruckig/third_party/doctest/LICENSE
    R src/emc/tp/ruckig/third_party/doctest/doctest.h
    R src/emc/tp/ruckig/third_party/httplib/LICENSE
    R src/emc/tp/ruckig/third_party/httplib/httplib.h
    R src/emc/tp/ruckig/third_party/nlohmann/LICENSE
    R src/emc/tp/ruckig/third_party/nlohmann/json.hpp
    M src/emc/tp/ruckig_wrapper.c
    R src/emc/tp/ruckig_wrapper.cc
    M src/emc/tp/tc.c
    M src/emc/tp/tp.c

  Log Message:
  -----------
  Merge pull request #3884 from grandixximo/master

Replace C++ Ruckig with pure C cruckig to fix RTAI builds

Compare: https://github.com/LinuxCNC/linuxcnc/compare/2aee01092510...d2c5120deee0

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