Merge branch 'master' into Orient_Add-modes-with-index

Sigma1912 · web-flow · commit 234e15577b69 · 2026-08-06T12:50:35.000Z
diff --git a/.github/scripts/use-main-ubuntu-mirror.sh b/.github/scripts/use-main-ubuntu-mirror.sh
@@ -1,15 +1,22 @@
 #!/bin/sh
 
 # The azure.archive.ubuntu.com apt mirror on GitHub-hosted runners
-# regularly degrades to trickle speeds for extended periods, which stalls
-# package downloads until the job hits its timeout. apt retries do not
-# help because the connection stays alive, only slow. Switch to the main
-# Ubuntu archive, which is consistently fast from Azure.
+# regularly degrades to trickle speeds, stalling jobs until they time
+# out. Switch to archive.ubuntu.com, which is consistently fast.
 
 set -eu #Needed so CI fails when anything is wrong
 set -x
 
-for f in /etc/apt/sources.list /etc/apt/sources.list.d/*.list /etc/apt/sources.list.d/*.sources; do
+# apt-mirrors.txt must be included: the runner image points apt at it
+# via mirror+file:// in ubuntu.sources, so the azure URL lives there.
+for f in /etc/apt/sources.list /etc/apt/sources.list.d/*.list /etc/apt/sources.list.d/*.sources /etc/apt/apt-mirrors.txt; do
     [ -e "$f" ] || continue
     sudo sed -i 's|http://azure\.archive\.ubuntu\.com/ubuntu|http://archive.ubuntu.com/ubuntu|g' "$f"
 done
+
+# Fail if azure is still referenced, so an image layout change cannot
+# turn this script into a silent no-op.
+if grep -rsq 'azure\.archive\.ubuntu\.com' /etc/apt; then
+    echo "error: azure.archive.ubuntu.com still referenced under /etc/apt after mirror switch" >&2
+    exit 1
+fi
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -187,6 +187,8 @@ jobs:
         .github/scripts/build-doc.sh
     - name: Check manpage names match filenames
       run: scripts/manpage-name-check.py --enforce docs/build/man
+    - name: Check for derived-id section references
+      run: scripts/docs-anchor-check.py --enforce
     - name: Verify no untracked or modified files after build
       run: |
         #*.po and documentation.pot are modifyed by build. Ignore them for now.
diff --git a/configs/sim/axis/axis.ini b/configs/sim/axis/axis.ini
@@ -131,7 +131,7 @@ HALUI = halui
 COORDINATES = X Y Z
 LINEAR_UNITS = inch
 ANGULAR_UNITS = degree
-MAX_LINEAR_VELOCITY = 4
+MAX_LINEAR_VELOCITY = 5
 DEFAULT_LINEAR_ACCELERATION = 100
 MAX_LINEAR_ACCELERATION = 100
 POSITION_FILE = position.txt
diff --git a/docs/src/getting-started/getting-linuxcnc.adoc b/docs/src/getting-started/getting-linuxcnc.adoc
@@ -35,6 +35,7 @@ The outline of the process looks like this:
 
 This section describes some methods for downloading the Live/Install image.
 
+[[_normal_download]]
 === Normal Download
 
 Software for LinuxCNC to download is presented on the project's
@@ -242,6 +243,7 @@ In rare cases you might have to reset the BIOS to default settings if
 during the Live CD install it cannot recognize the hard drive
 during the boot up.
 
+[[_alternate_install_methods]]
 == Alternate Install Methods
 
 The easiest, preferred way to install LinuxCNC is to use the Live/Install Image as described above.
diff --git a/docs/src/gui/qtvcp.adoc b/docs/src/gui/qtvcp.adoc
@@ -77,6 +77,7 @@ You are free to mix them in any way on your panel.
 A very important widget for CNC control is the *`ScreenOptions` widget*:
 It does not add anything visually to the screen but, allows important details to be selected rather then be coded in the handler file.
 
+[[_ini_settings]]
 === INI Settings
 
 If you are using QtVCP to make a CNC motion control screen (rather then a HAL based panel), in the INI file, in the `[DISPLAY]` section, add a line with the following pattern:
diff --git a/docs/src/install/latency-test.adoc b/docs/src/install/latency-test.adoc
@@ -227,6 +227,7 @@ isolcpus::
     for latency>>.
 
 
+[[_latency_tuning]]
 == Latency tuning
 
 LinuxCNC can run on many different hardware platforms and with many
diff --git a/docs/src/man/man1/halcmd.1.adoc b/docs/src/man/man1/halcmd.1.adoc
@@ -58,6 +58,7 @@ and press tab to complete the names of items such as pins and signals.
   display a help screen and exit, displays extended help on _command_ if
   specified
 
+[[_commands]]
 == COMMANDS
 
 Commands tell *halcmd* what to do. Normally *halcmd* reads a single
diff --git a/docs/src/man/man1/linuxcncrsh.1.adoc b/docs/src/man/man1/linuxcncrsh.1.adoc
@@ -178,6 +178,7 @@ The supported commands are as follows:
   Help will respond regardless of whether a 'HELLO' has been
   successfully negotiated.
 
+[[_subcommands]]
 == SUBCOMMANDS
 
 Commands and parameters are not case sensitive, except for the
diff --git a/docs/src/man/man1/mesambccc.1.adoc b/docs/src/man/man1/mesambccc.1.adoc
@@ -28,6 +28,7 @@ below.
   Output a verbose list of configuration parameters, devices, Modbus messages
   and HAL pins.
 
+[[_mbccs_file_format]]
 == MBCCS FILE FORMAT
 The Modbus command control source file (mbccs file) is an XML formatted
 document describing the communication parameters, connected devices, HAL pins
@@ -59,6 +60,7 @@ All values are checked to be within an acceptable range. Errors and warnings
 are emitted when values are out of bounds. In case of a warning they may be
 clamped to the acceptable range.
 
+[[_modbus_functions]]
 === MODBUS FUNCTIONS
 A subset of the Modbus functions is supported (with function number in parentheses):
 
@@ -82,6 +84,7 @@ A subset of the Modbus functions is supported (with function number in parenthes
 You can use the function's symbolic name or numerical value in '<command>' in
 the 'function' attribute (as in `function="W_REGISTERS"` or `function="16"`).
 
+[[_modbus_types]]
 === MODBUS TYPES
 The 'modbustype' attribute declares the interpretation of values to or from a
 Modbus device's registers. They can be a signed integer (S), unsigned integer
@@ -387,6 +390,7 @@ Recognized '<initlist>/<command>/<data>' attributes:
   16-bit integer but depends on the 'modbustype' attribute and the range of
   acceptable values depends on the Modbus function.
 
+[[_hal_types]]
 === HAL TYPES
 A '<command>' in the '<commands>' section maps to one or more HAL pins with
 specific type using the 'haltype' attribute. Recognized are:
diff --git a/docs/src/man/man9/hm2_eth.9.adoc b/docs/src/man/man9/hm2_eth.9.adoc
@@ -7,13 +7,17 @@ IO boards, with HostMot2 firmware.
 
 == SYNOPSIS
 
-*loadrt hm2_eth* [**config=**"__str__[,__str__...]"] [**board_ip=**__ip__[,__ip__...] ] [**board_mac=**__mac__[,__mac__...] ] [**firewall=**__auto|iptables|nft|none__]
+*loadrt hm2_eth* [**config=**"__str__[,__str__...]"] [**board_ip=**__ip__[,__ip__...] ] [**board_rtnet=**__posix|evl__[,__posix|evl__...] ]  [**board_mac=**__mac__[,__mac__...] ] [**firewall=**__auto|iptables|nft|none__]
 
 *config* [default: ""]::
   HostMot2 config strings, described in the hostmot2(9) manpage.
 *board_ip* [default: ""]::
   The IP address of the board(s), separated by commas.
   As shipped, the board address is 192.168.1.121.
+*board_rtnet* [default: posix]::
+  The real time ethernet implementation of the board(s), separated by
+  commas. Use *posix* for PREEMT_RT. Use *evl* if you are running a
+  Xenomai4 EVL kernel and have a supported network card.
 *firewall* [default: auto]::
   Selects the firewall backend used to isolate the dedicated interface.
   By default hm2_eth installs the rules itself; rtapi_app raises
@@ -124,6 +128,8 @@ hm2___<BoardType>__.__<BoardNum>__.packet-error-level (s32, out)::
   The error level is always in the range from 0 to packet-error-limit, inclusive.
 hm2___<BoardType>__.__<BoardNum>__.packet-error-exceeded (bit, out)::
   This pin is TRUE when the current error level is equal to the maximum, and FALSE at other times.
+hm2___<BoardType>__.__<BoardNum>__.packet-error-total (u32, io)::
+  This pin shows the total package error count.
 
 == PARAMETERS
 
@@ -150,6 +156,16 @@ hm2___<BoardType>__.__<BoardNum>__.packet-read-timeout (s32, rw)::
 Setting this value too low can cause spurious read errors.
 Setting it too high can cause realtime delay errors.
 
+== FUNCTIONS
+
+hm2_eth.realtime-init::
+  Realtime initialization function. This function initializes the realtime
+  ethernet for *evl*. With *posix*, this function is not needed.
+  It needs to be called once at startup using:
+....
+initf hm2_eth.realtime-init servo-thread
+....
+
 == NOTES
 
 hm2_eth installs firewall rules to control the network interface while
diff --git a/scripts/docs-anchor-check.py b/scripts/docs-anchor-check.py
@@ -0,0 +1,84 @@
+#!/usr/bin/env python3
+# Flag section references relying on auto-generated AsciiDoc ids:
+# <<_derived_id>> xrefs and link:...html#_derived_id URLs. Derived ids come
+# from the section title, so the reference breaks when the title is
+# translated or retitled. Pin the target with an explicit [[anchor]] instead.
+# Pass 1 collects explicit anchor definitions in docs/src, pass 2 reports
+# derived-id references with no explicit target.
+# Warn-only unless --enforce or DOCS_ANCHOR_CHECK_ENFORCE is set.
+
+import os
+import re
+import sys
+import glob
+
+# The script lives in scripts/, the docs are one level up at ../docs, so it runs from anywhere.
+HERE = os.path.dirname(os.path.realpath(__file__, strict=True))
+DOCS = os.path.normpath(os.path.join(HERE, '..', 'docs'))
+SRC = os.path.join(DOCS, 'src')
+
+# Explicit anchor definition forms, mirroring ANCHOR_DEF in
+# docs/src/extensions/xref_resolver.rb, plus the anchor: macro.
+ANCHOR_DEF = re.compile(r"""
+    \[\[ ([A-Za-z_][\w:.-]*) (?:,[^\]]*)? \]\]     |   # [[id]] or [[id,reftext]]
+    \[\# ([A-Za-z_][\w:.-]*) (?:[.%][^\]]*)? \]    |   # [#id]
+    \[ (?:[^,\]]*,\s*)* id\s*=\s*["']? ([A-Za-z_][\w:.-]*) ["']? [,\]] |   # [id="foo"]
+    ^anchor: ([A-Za-z_][\w:.-]*) \[\]              |   # anchor:id[]
+    ^:id:\s* ([A-Za-z_][\w:.-]*)                       # :id: foo
+""", re.X | re.M)
+
+# Derived-id references: <<_foo>> / <<_foo,Title>> xrefs and
+# link:...html#_foo[...] URL fragments.  Namespaced anchors carry a ':', so a
+# target that starts with '_' and has no ':' is a derived id by convention.
+XREF = re.compile(r'<<(_[A-Za-z0-9][\w.-]*)(?:,.*?)?>>')
+LINKURL = re.compile(r'link:[^\s\[]*#(_[A-Za-z0-9][\w.-]*)\[')
+
+def collect(adoc_files):
+    defined = {}  # anchor -> file
+    for path in adoc_files:
+        text = open(path, encoding='utf-8', errors='replace').read()
+        for m in ANCHOR_DEF.finditer(text):
+            anchor = next(g for g in m.groups() if g)
+            defined.setdefault(anchor, path)
+    return defined
+
+def find_derived_refs(adoc_files, defined):
+    problems = []
+    for path in adoc_files:
+        lines = open(path, encoding='utf-8', errors='replace').read().splitlines()
+        for lineno, line in enumerate(lines, 1):
+            for regex in (XREF, LINKURL):
+                for m in regex.finditer(line):
+                    target = m.group(1)
+                    if target not in defined:
+                        rel = os.path.relpath(path, DOCS)
+                        problems.append((rel, lineno, m.group(0)[:60], target))
+    return problems
+
+def main():
+    enforce = '--enforce' in sys.argv or os.environ.get('DOCS_ANCHOR_CHECK_ENFORCE')
+    adoc_files = sorted(glob.glob(f'{SRC}/**/*.adoc', recursive=True))
+    defined = collect(adoc_files)
+    problems = find_derived_refs(adoc_files, defined)
+    if not problems:
+        return 0
+    out = ['Derived-id section references with no explicit anchor target',
+           '(these break in translated docs when the target title is translated;',
+           'pin the target section with an explicit [[anchor]] and reference that):',
+           '']
+    for rel, lineno, ref, target in problems:
+        out.append(f'{rel}:{lineno}: {ref}')
+        out.append(f'    target `[[{target}]]` is not explicitly defined anywhere in docs/src')
+    text = '\n'.join(out)
+    print(text)
+    if os.environ.get('GITHUB_ACTIONS'):
+        summary = os.environ.get('GITHUB_STEP_SUMMARY')
+        if summary:
+            with open(summary, 'a', encoding='utf-8') as f:
+                f.write('## Derived-id anchor check\n\n```\n' + text + '\n```\n')
+        level = 'error' if enforce else 'warning'
+        print(f'::{level} title=Derived-id anchor check::{len(problems)} reference(s) rely on auto-generated section ids, see job summary')
+    return 1 if enforce else 0
+
+if __name__ == '__main__':
+    sys.exit(main())
diff --git a/src/Makefile b/src/Makefile
@@ -1049,7 +1049,11 @@ hm2_pci-objs  :=			  \
     $(MATHSTUB)
 hm2_eth-objs  :=			  \
     hal/drivers/mesa-hostmot2/hm2_eth.o   \
-    $(MATHSTUB)
+    hal/drivers/mesa-hostmot2/hm2_eth_net_posix.o
+ifeq ($(CONFIG_USPACE_XENOMAI_EVL),y)
+hm2_eth-objs  += hal/drivers/mesa-hostmot2/hm2_eth_net_evl.o
+endif
+hm2_eth-objs  += $(MATHSTUB)
 hm2_spi-objs  :=			  \
     hal/drivers/mesa-hostmot2/hm2_spi.o   \
     hal/drivers/mesa-hostmot2/llio_info.o \
@@ -1286,7 +1290,7 @@ modules: $(patsubst %.o,../rtlib/%.so,$(obj-m))
 	$(Q)objdump -w -j .rtapi_export -t objects/$*.tmp \
 	| awk 'BEGIN{print "{ global :"} /rtapi_exported_/{printf("%s;\n", substr($$6,16))} END{print "local : * ; };"}' \
 	> objects/$*.ver
-	$(Q)$(CC) -shared -Bsymbolic -Wl,--version-script,objects/$*.ver -o $@ $^ -lm $(LDFLAGS)
+	$(Q)$(CC) -shared -Bsymbolic -Wl,--version-script,objects/$*.ver -o $@ $^ -lm $(XENOMAI_EVL_LDFLAGS) $(LDFLAGS)
 	$(Q)chmod -x $@
 
 RTFLAGS += -fno-strict-aliasing -fwrapv
@@ -1297,7 +1301,7 @@ $(sort $(filter-out objects/rtemc/tp/cruckig/%,$(RTOBJS))) : objects/rt%.o : %.c
 	@rm -f $@
 	@mkdir -p $(dir $@)
 	$(Q)$(CC) -c $(OPT) $(DEBUG) $(EXTRA_DEBUG) -DRTAPI \
-		$(EXTRA_CFLAGS) \
+		$(EXTRA_CFLAGS) $(XENOMAI_EVL_CFLAGS) \
 		-MP -MD -MF "${@:.o=.d}" -MT "$@" \
 		$< -o $@
 
diff --git a/src/configure.ac b/src/configure.ac
@@ -264,7 +264,7 @@ if test "$RTS" = uspace || test -z "$RTS" -a "$RTAI_CONFIG" = "none" ; then
     CONFIG_USPACE_XENOMAI_EVL=y
     XENOMAI_EVL_CFLAGS=
     XENOMAI_EVL_LDFLAGS=-levl
-    AC_DEFINE([USPACE_XENOMAI_EVL], [], [Define if uspace realtime should optionally support Xenomai-evl])
+    AC_DEFINE([USPACE_XENOMAI_EVL], [], [Define if uspace realtime should optionally support Xenomai EVL])
   fi
 
   AC_SUBST([CONFIG_USPACE_XENOMAI_EVL])
diff --git a/src/hal/components/orient.comp b/src/hal/components/orient.comp
@@ -33,9 +33,7 @@ to support the M19 code.
 The spindle is assumed to have stopped in an arbitrary position. The spindle
 encoder position is linked to the *position* pin.  The current value of the
 position pin is sampled on a positive edge on the *enable* pin, and *command*
-is computed and set as follows: +
-floor(number of full spindle revolutions in the *position* sampled on positive
-edge) plus *angle*/360 (the fractional revolution) +1/-1/0 depending on *mode*.
+is computed and set depending on *mode*.
 
 The *mode* pin is interpreted as follows:
 
diff --git a/src/hal/drivers/mesa-hostmot2/hm2_eth.c b/src/hal/drivers/mesa-hostmot2/hm2_eth.c
diff --git a/src/hal/drivers/mesa-hostmot2/hm2_eth.h b/src/hal/drivers/mesa-hostmot2/hm2_eth.h
diff --git a/src/hal/drivers/mesa-hostmot2/hm2_eth_net_evl.c b/src/hal/drivers/mesa-hostmot2/hm2_eth_net_evl.c
diff --git a/src/hal/drivers/mesa-hostmot2/hm2_eth_net_evl.h b/src/hal/drivers/mesa-hostmot2/hm2_eth_net_evl.h
diff --git a/src/hal/drivers/mesa-hostmot2/hm2_eth_net_posix.c b/src/hal/drivers/mesa-hostmot2/hm2_eth_net_posix.c
diff --git a/src/hal/drivers/mesa-hostmot2/hm2_eth_net_posix.h b/src/hal/drivers/mesa-hostmot2/hm2_eth_net_posix.h
