RTAI build fails on branch master

[hdiethelm]

In context with #3870, I figured I could just set up a VM and run RTAI in there to implement also RTAI suport.

However, on master, the build fails.
Branch 2.9, all is fine:

• ./autogen.sh
• ./configure --with-realtime=/usr/realtime-5.4.279-rtai-amd64
• make -j8

Branch master, it fails:

• ./autogen.sh
• ./configure --with-realtime=/usr/realtime-5.4.279-rtai-amd64
• make -j8

libnml/posemath/_posemath.c:32:10: fatal error: rtapi_math.h: Datei oder Verzeichnis nicht gefunden
   32 | #include <rtapi_math.h>

[BsAtHome]

Can you rerun with: make V=1 and post the resulting output of the compile command and error?

Also, please check that you have [basedir]/include/rtapi_math.h in there (that should be a copy from the src/rtapi directory).

[hdiethelm]

What is [basedir]?

It seams to be the include paths are messed up:
Master:

Compiling libnml/posemath/_posemath.c
gcc -c -I. -Iemc -I/usr/realtime-5.4.279-rtai-amd64/../include -I/usr/include/python3.13 -I/usr/include/tirpc  -O2 -fwrapv  -g -Wall -D_FORTIFY_SOURCE=2 -DULAPI -std=gnu11 -Werror=implicit-function-declaration    -fPIC \
	-MP -MD -MF "objects/libnml/posemath/_posemath.d" -MT "objects/libnml/posemath/_posemath.o" \
	libnml/posemath/_posemath.c -o objects/libnml/posemath/_posemath.o
libnml/posemath/_posemath.c:32:10: fatal error: rtapi_math.h: Datei oder Verzeichnis nicht gefunden
   32 | #include <rtapi_math.h>
      |          ^~~~~~~~~~~~~~
compilation terminated.

2.9:

Compiling libnml/posemath/_posemath.c
gcc -c -I. -Ilibnml/linklist -Iemc -Ilibnml/cms -Ilibnml/rcs -Ilibnml/inifile -Ilibnml/os_intf -Ilibnml/nml -Ilibnml/buffer -Ilibnml/posemath -Irtapi -Ihal -Iemc -Iemc/nml_intf -Iemc/kinematics -Iemc/tp -Iemc/motion -Iemc/ini -Iemc -Iemc/rs274ngc -Iemc/sai -Iemc/pythonplugin -Iemc/tooldata -Iemc -I/usr/realtime-5.4.279-rtai-amd64/include -I/usr/include/python3.13 -I/usr/include/tirpc  -Os -fwrapv  -g -Wall -D_FORTIFY_SOURCE=2  -DULAPI -std=gnu11 -Werror=implicit-function-declaration   -fPIC \
	-MP -MD -MF "objects/libnml/posemath/_posemath.d" -MT "objects/libnml/posemath/_posemath.o" \
	libnml/posemath/_posemath.c -o objects/libnml/posemath/_posemath.o

Same for master and 2.9:

linuxcnc-src/src$ find .. -name rtapi_math.h
../include/rtapi_math.h
../src/rtapi/rtapi_math.h

[hdiethelm]

Anyway, it looks like RTAI on debian trixie is not that well supported. With 5.4.279-rtai-amd64 I had to add:
sd_mod
to /etc/initramfs-tools/modules and run update-initramfs to be able to boot.

[BsAtHome]

The -I paths got trimmed completely in master because includes were a big mess.

The problem is -I/usr/realtime-5.4.279-rtai-amd64/../include which is an expansion of Makefile:248: INCLUDE := $(patsubst %,-I%, $(INCLUDES)) -I$(RTDIR)/../include.

The RTDIR seems to be the problem. For the compile that should be the base directory of the LCNC source tree, but it is obviously the wrong macro. Take a look in Makefile.inc what is actually pointing correctly to the LCNC base directory in a RTAI build and share that with us.

And, FWIW, RTAI is beginning to become problematic because upstream is effectively dead and everybody moved on. There are essentially stock kernel RT_PREEMPT and Xenomai left and I don't think anybody has tried Xenomai v3 recently either (and it would need to be ported to version 4).

[BsAtHome]

Oh, and [basedir] is where the LinuxCNC source tree lives (where you extracted or cloned it).

[hdiethelm]

Ah so basically RTAI is dead and for Xenomai3 it would take some effort to even figure out how to build it. At least I found no good manual.
So it doesn't make sense to add RTAI or Xenomai3 support for #3870 if pretty much no one uses these variants.

[BsAtHome]

RTAI is less dead than Xenomai3 afaik. There are still users. Often "install once, forget what and why you did that" systems ;-)
@andypugh still likes to keep RTAI alive, for now, but we all know it will be on borrowed time.

That said, it looks like this particular issue, the wrong or missing -I include is fixable with relative ease. You need to include the LinuxCNC include directory for compiling the source. Maybe you can try to add -I ../include to the Makefile on line 248. The sources are supposed to be built from the src directory and the includes are located at src/../include. So that should work (cross fingers).

[BsAtHome]

Actually, now that I reviewed it once more, you should try to change it into (line 248 in Makefile):

INCLUDE := $(patsubst %,-I%, $(INCLUDES)) -I$(RTDIR)/include -I../include

The change of that line I made in #3837 may have been slightly off because I have no RTAI locally to test it on.

[hdiethelm]

You don't need to have an RTAI kernel running for building. Having 5.4.279-rtai-amd64 installed is enough. I figured that out due to my VM has no qemu drivers with such an old kernel, so fixed tiny resolution which is pretty annoying to work.
Otherwise, you can also use a docker to test the build. It would make sense to do also an RTAI build in CI, so it doesn't break.
Still not working:

  gcc -Wp,-MD,/home/hannes/linuxcnc-src/src/objects/hal/components/.near.o.d -nostdinc -isystem /usr/lib/gcc/x86_64-linux-gnu/14/include -I./arch/x86/include -I./arch/x86/include/generated  -I./include -I./arch/x86/include/uapi -I./arch/x86/include/generated/uapi -I./include/uapi -I./include/generated/uapi -include ./include/linux/kconfig.h -include ./include/linux/compiler_types.h -D__KERNEL__ -Wall -Wundef -Werror=strict-prototypes -Wno-trigraphs -fno-strict-aliasing -fno-common -fshort-wchar -fno-PIE -Werror=implicit-function-declaration -Werror=implicit-int -Werror=return-type -Wno-format-security -std=gnu89 -mno-sse -mno-mmx -mno-sse2 -mno-3dnow -mno-avx -fcf-protection=none -m64 -falign-jumps=1 -falign-loops=1 -mno-80387 -mno-fp-ret-in-387 -mpreferred-stack-boundary=3 -mskip-rax-setup -mtune=generic -mno-red-zone -mcmodel=kernel -DCONFIG_AS_CFI=1 -DCONFIG_AS_CFI_SIGNAL_FRAME=1 -DCONFIG_AS_CFI_SECTIONS=1 -DCONFIG_AS_SSSE3=1 -DCONFIG_AS_AVX=1 -DCONFIG_AS_AVX2=1 -DCONFIG_AS_AVX512=1 -DCONFIG_AS_SHA1_NI=1 -DCONFIG_AS_SHA256_NI=1 -Wno-sign-compare -fno-asynchronous-unwind-tables -fno-delete-null-pointer-checks -Wno-frame-address -Wno-format-truncation -Wno-format-overflow -Wno-address-of-packed-member -O2 -fno-allow-store-data-races -Wframe-larger-than=2048 -fstack-protector -Wimplicit-fallthrough -Wno-unused-but-set-variable -Wno-unused-const-variable -Wno-dangling-pointer -fomit-frame-pointer -fno-var-tracking-assignments -Wdeclaration-after-statement -Wvla -Wno-pointer-sign -Wno-stringop-truncation -Wno-zero-length-bounds -Wno-array-bounds -Wno-stringop-overflow -Wno-restrict -Wno-maybe-uninitialized -fno-strict-overflow -fno-merge-all-constants -fmerge-constants -fno-stack-check -fconserve-stack -Werror=date-time -Werror=incompatible-pointer-types -Werror=designated-init -fmacro-prefix-map=./= -Wno-packed-not-aligned -I. -I/usr/realtime-5.4.279-rtai-amd64/include -I. -I/usr/include/rtai -O2 -march=x86-64 -fomit-frame-pointer -pipe -D__IN_RTAI__ -mcmodel=kernel -std=gnu11 -nostdinc -ffreestanding -fno-pic -fno-builtin -fno-common -fno-unwind-tables -fno-asynchronous-unwind-tables -frounding-math -mpreferred-stack-boundary=4 -mstackrealign -mfpmath=sse -msse -msse2 -DRTAI=5 -DRTAPI -D_GNU_SOURCE -Drealtime -D__MODULE__ -I/home/hannes/linuxcnc-src/src/../include -DSEQUENTIAL_SUPPORT -DHAL_SUPPORT -DDYNAMIC_PLCSIZE -DRT_SUPPORT -DOLD_TIMERS_MONOS_SUPPORT -DMODBUS_IO_MASTER -fno-fast-math -mieee-fp -fno-unsafe-math-optimizations -Wno-declaration-after-statement -fno-builtin-sin -fno-builtin-cos -fno-builtin-sincos  -DMODULE  -DKBUILD_BASENAME='"near"' -DKBUILD_MODNAME='"near"' -c -o /home/hannes/linuxcnc-src/src/objects/hal/components/near.o /home/hannes/linuxcnc-src/src/objects/hal/components/near.c
/home/hannes/linuxcnc-src/src/objects/hal/components/mesa_pktgyro_test.c:13:10: fatal error: hal/drivers/mesa-hostmot2/hostmot2-serial.h: Datei oder Verzeichnis nicht gefunden
   13 | #include "hal/drivers/mesa-hostmot2/hostmot2-serial.h"
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.

[BsAtHome]

So glad you are taking your time to test this. And yes, we should try to make a CI for this if we should keep RTAI. But I never got it compiling on my machine. You seem to have a working procedure or may be able to provide the procedure when this is working.

The hal/components/mesa_pktgyro_test.comp component. It tries to access private headers while RT components got restricted to includes that must be in the [basedir]/include directory. The reason is because those are the headers in the dev package and RT components should be out-of-tree compileable. This component specifically is a test component that actually does not work anymore and should be disabled (and maybe even removed).

You can rename it so it doesn't end in .comp and the error will go away. Alternative is to edit the hal/components/Submakefile and add it to the filter-out list (like tpcomp and homecomp are).

[hdiethelm]

At least in my debian trixie VM, cloned from clean, it works like that:

• Add linuxcnc to /etc/apt/sources.list:
  • deb [arch=amd64,arm64 signed-by=/etc/apt/keyrings/linuxcnc.gpg] https://www.linuxcnc.org/ trixie base 2.9-uspace 2.9-rt
  • deb-src [arch=amd64,arm64 signed-by=/etc/apt/keyrings/linuxcnc.gpg] https://www.linuxcnc.org/ trixie base 2.9-uspace 2.9-rt
• GPGTMP=$(mktemp -d /tmp/.gnupgXXXXXX)
• gpg --homedir $GPGTMP --keyserver hkp://keyserver.ubuntu.com --recv-key e43b5a8e78cc2927
• gpg --homedir $GPGTMP --export 'LinuxCNC Archive Signing Key' | sudo tee /etc/apt/keyrings/linuxcnc.gpg > /dev/null
• sudo apt update
• sudo apt install linux-image-5.4.279-rtai-amd64 linux-headers-5.4.279-rtai-amd64 rtai-modules-5.4.279
• git clone https://github.com/LinuxCNC/linuxcnc.git linuxcnc-src
• cd linuxcnc-src
• git checkout 2.9
• ./debian/configure
• sudo apt-get build-dep .
• cd src
• ./autogen.sh
• ./configure --with-realtime=/usr/realtime-5.4.279-rtai-amd64
• make -j8

Or are you good in using docker? Creating a Dockerfile should be simple and works 99.9% also on your PC if it works on mine, not like the commands above which sometimes only work because I installed something long ago.

There are also many other issues, it seams an RTAI compile didn't happen for some time on master:

/home/hannes/linuxcnc-src/src/objects/hal/components/raster.c:14:10: fatal error: hal/components/raster.h: Datei oder Verzeichnis nicht gefunden
   14 | #include "hal/components/raster.h"
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.

These can be fixed like that:
include "../../../hal/components/raster.h";

But that one seams to be more annoying:

/usr/bin/python3.13 modsilent.py make KBUILD_EXTRA_SYMBOLS=/usr/realtime-5.4.279-rtai-amd64/modules/Module.symvers -C /usr/src/linux-headers-5.4.279-rtai-amd64 M=/home/hannes/linuxcnc-src/src CC=gcc V=0 modules
make[1]: Verzeichnis „/usr/src/linux-headers-5.4.279-rtai-amd64“ wird betreten
make[2]: Verzeichnis „/usr/src/linux-headers-5.4.279-rtai-amd64“ wird betreten
  CC [M]  /home/hannes/linuxcnc-src/src/emc/motion/motion.o
In file included from /usr/lib/gcc/x86_64-linux-gnu/14/include/stdint.h:11,
                 from /home/hannes/linuxcnc-src/src/emc/motion/motion.h:63,
                 from /home/hannes/linuxcnc-src/src/emc/motion/motion.c:20:
/usr/lib/gcc/x86_64-linux-gnu/14/include/stdint-gcc.h:43:24: error: conflicting types for ‘int64_t’; have ‘long int’
   43 | typedef __INT64_TYPE__ int64_t;
      |                        ^~~~~~~
In file included from ./arch/x86/include/asm/alternative.h:7,
                 from ./arch/x86/include/asm/barrier.h:5,
                 from ./include/linux/compiler.h:325,
                 from ./include/linux/ioport.h:13,
                 from /home/hannes/linuxcnc-src/src/../include/rtapi.h:842,
                 from /home/hannes/linuxcnc-src/src/emc/motion/motion.c:13:
./include/linux/types.h:114:33: note: previous declaration of ‘int64_t’ with type ‘int64_t’ {aka ‘long long int’}
  114 | typedef s64                     int64_t;
      |                                 ^~~~~~~
/usr/lib/gcc/x86_64-linux-gnu/14/include/stdint-gcc.h:55:25: error: conflicting types for ‘uint64_t’; have ‘long unsigned int’
   55 | typedef __UINT64_TYPE__ uint64_t;
      |                         ^~~~~~~~
./include/linux/types.h:112:33: note: previous declaration of ‘uint64_t’ with type ‘uint64_t’ {aka ‘long long unsigned int’}
  112 | typedef u64                     uint64_t;
      |                                 ^~~~~~~~

[NTULINUX]

Kernel space should never be looking for GCC or C library headers, so that's a big no no.

After applying INCLUDE := $(patsubst %,-I%, $(INCLUDES)) -I$(RTDIR)/include -I../include

Using Debian Trixie in QEMU I'm getting this:

make: Entering directory '/home/lcnc/linuxcnc/src'
Reading 216/216 dependency files
Done reading dependencies
MAKEFLAGS="w -- V=1" \
/usr/bin/python3.13 modsilent.py make KBUILD_EXTRA_SYMBOLS=/usr/realtime-5.4.280-rtai-amd64/modules/Module.symvers -C /usr/src/linux-headers-5.4.280-rtai-amd64 M=/home/lcnc/linuxcnc/src CC=gcc V=1 modules
make[1]: Entering directory '/usr/src/linux-headers-5.4.280-rtai-amd64'
make -f ./scripts/Makefile.build obj=/home/lcnc/linuxcnc/src \
single-build= \
need-builtin=1 need-modorder=1
make[2]: Entering directory '/usr/src/linux-headers-5.4.280-rtai-amd64'
  gcc -Wp,-MD,/home/lcnc/linuxcnc/src/objects/hal/components/.mesa_pktgyro_test.o.d -nostdinc -isystem /usr/lib/gcc/x86_64-linux-gnu/14/include -I./arch/x86/include -I./arch/x86/include/generated  -I./include -I./arch/x86/include/uapi -I./arch/x86/include/generated/uapi -I./include/uapi -I./include/generated/uapi -include ./include/linux/kconfig.h -include ./include/linux/compiler_types.h -D__KERNEL__ -Wall -Wundef -Werror=strict-prototypes -Wno-trigraphs -fno-strict-aliasing -fno-common -fshort-wchar -fno-PIE -Werror=implicit-function-declaration -Werror=implicit-int -Werror=return-type -Wno-format-security -std=gnu89 -mno-sse -mno-mmx -mno-sse2 -mno-3dnow -mno-avx -fcf-protection=none -m64 -falign-jumps=1 -falign-loops=1 -mno-80387 -mno-fp-ret-in-387 -mpreferred-stack-boundary=3 -mskip-rax-setup -mtune=generic -mno-red-zone -mcmodel=kernel -DCONFIG_AS_CFI=1 -DCONFIG_AS_CFI_SIGNAL_FRAME=1 -DCONFIG_AS_CFI_SECTIONS=1 -DCONFIG_AS_SSSE3=1 -DCONFIG_AS_AVX=1 -DCONFIG_AS_AVX2=1 -DCONFIG_AS_AVX512=1 -DCONFIG_AS_SHA1_NI=1 -DCONFIG_AS_SHA256_NI=1 -Wno-sign-compare -fno-asynchronous-unwind-tables -fno-delete-null-pointer-checks -Wno-frame-address -Wno-format-truncation -Wno-format-overflow -Wno-address-of-packed-member -O2 -fno-allow-store-data-races -Wframe-larger-than=2048 -fstack-protector -Wimplicit-fallthrough -Wno-unused-but-set-variable -Wno-unused-const-variable -Wno-dangling-pointer -fomit-frame-pointer -fno-var-tracking-assignments -Wdeclaration-after-statement -Wvla -Wno-pointer-sign -Wno-stringop-truncation -Wno-zero-length-bounds -Wno-array-bounds -Wno-stringop-overflow -Wno-restrict -Wno-maybe-uninitialized -fno-strict-overflow -fno-merge-all-constants -fmerge-constants -fno-stack-check -fconserve-stack -Werror=date-time -Werror=incompatible-pointer-types -Werror=designated-init -fmacro-prefix-map=./= -Wno-packed-not-aligned -I. -I/usr/realtime-5.4.280-rtai-amd64/include -I. -I/usr/include/rtai -O2 -march=x86-64 -fomit-frame-pointer -pipe -D__IN_RTAI__ -mcmodel=kernel -std=gnu11 -nostdinc -ffreestanding -fno-pic -fno-builtin -fno-common -fno-unwind-tables -fno-asynchronous-unwind-tables -frounding-math -mpreferred-stack-boundary=4 -mstackrealign -mfpmath=sse -msse -msse2 -DRTAI=5 -DRTAPI -D_GNU_SOURCE -Drealtime -D__MODULE__ -I/home/lcnc/linuxcnc/src/../include -DSEQUENTIAL_SUPPORT -DHAL_SUPPORT -DDYNAMIC_PLCSIZE -DRT_SUPPORT -DOLD_TIMERS_MONOS_SUPPORT -DMODBUS_IO_MASTER -fno-fast-math -mieee-fp -fno-unsafe-math-optimizations -Wno-declaration-after-statement -fno-builtin-sin -fno-builtin-cos -fno-builtin-sincos  -DMODULE  -DKBUILD_BASENAME='"mesa_pktgyro_test"' -DKBUILD_MODNAME='"mesa_pktgyro_test"' -c -o /home/lcnc/linuxcnc/src/objects/hal/components/mesa_pktgyro_test.o /home/lcnc/linuxcnc/src/objects/hal/components/mesa_pktgyro_test.c
/home/lcnc/linuxcnc/src/objects/hal/components/mesa_pktgyro_test.c:13:10: fatal error: hal/drivers/mesa-hostmot2/hostmot2-serial.h: No such file or directory
   13 | #include "hal/drivers/mesa-hostmot2/hostmot2-serial.h"
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [scripts/Makefile.build:262: /home/lcnc/linuxcnc/src/objects/hal/components/mesa_pktgyro_test.o] Error 1
make[2]: Leaving directory '/usr/src/linux-headers-5.4.280-rtai-amd64'
make[1]: Leaving directory '/usr/src/linux-headers-5.4.280-rtai-amd64'
make[1]: *** [Makefile:1754: /home/lcnc/linuxcnc/src] Error 2
make: *** [Makefile:517: modules] Error 2
make: Leaving directory '/home/lcnc/linuxcnc/src'

With make -ki I eventually get:

gcc -Wp,-MD,/home/lcnc/linuxcnc/src/emc/motion/.motion.o.d -nostdinc -isystem /usr/lib/gcc/x86_64-linux-gnu/14/include -I./arch/x86/include -I./arch/x86/include/generated  -I./include -I./arch/x86/include/uapi -I./arch/x86/include/generated/uapi -I./include/uapi -I./include/generated/uapi -include ./include/linux/kconfig.h -include ./include/linux/compiler_types.h -D__KERNEL__ -Wall -Wundef -Werror=strict-prototypes -Wno-trigraphs -fno-strict-aliasing -fno-common -fshort-wchar -fno-PIE -Werror=implicit-function-declaration -Werror=implicit-int -Werror=return-type -Wno-format-security -std=gnu89 -mno-sse -mno-mmx -mno-sse2 -mno-3dnow -mno-avx -fcf-protection=none -m64 -falign-jumps=1 -falign-loops=1 -mno-80387 -mno-fp-ret-in-387 -mpreferred-stack-boundary=3 -mskip-rax-setup -mtune=generic -mno-red-zone -mcmodel=kernel -DCONFIG_AS_CFI=1 -DCONFIG_AS_CFI_SIGNAL_FRAME=1 -DCONFIG_AS_CFI_SECTIONS=1 -DCONFIG_AS_SSSE3=1 -DCONFIG_AS_AVX=1 -DCONFIG_AS_AVX2=1 -DCONFIG_AS_AVX512=1 -DCONFIG_AS_SHA1_NI=1 -DCONFIG_AS_SHA256_NI=1 -Wno-sign-compare -fno-asynchronous-unwind-tables -fno-delete-null-pointer-checks -Wno-frame-address -Wno-format-truncation -Wno-format-overflow -Wno-address-of-packed-member -O2 -fno-allow-store-data-races -Wframe-larger-than=2048 -fstack-protector -Wimplicit-fallthrough -Wno-unused-but-set-variable -Wno-unused-const-variable -Wno-dangling-pointer -fomit-frame-pointer -fno-var-tracking-assignments -Wdeclaration-after-statement -Wvla -Wno-pointer-sign -Wno-stringop-truncation -Wno-zero-length-bounds -Wno-array-bounds -Wno-stringop-overflow -Wno-restrict -Wno-maybe-uninitialized -fno-strict-overflow -fno-merge-all-constants -fmerge-constants -fno-stack-check -fconserve-stack -Werror=date-time -Werror=incompatible-pointer-types -Werror=designated-init -fmacro-prefix-map=./= -Wno-packed-not-aligned -I. -I/usr/realtime-5.4.280-rtai-amd64/include -I. -I/usr/include/rtai -O2 -march=x86-64 -fomit-frame-pointer -pipe -D__IN_RTAI__ -mcmodel=kernel -std=gnu11 -nostdinc -ffreestanding -fno-pic -fno-builtin -fno-common -fno-unwind-tables -fno-asynchronous-unwind-tables -frounding-math -mpreferred-stack-boundary=4 -mstackrealign -mfpmath=sse -msse -msse2 -DRTAI=5 -DRTAPI -D_GNU_SOURCE -Drealtime -D__MODULE__ -I/home/lcnc/linuxcnc/src/../include -DSEQUENTIAL_SUPPORT -DHAL_SUPPORT -DDYNAMIC_PLCSIZE -DRT_SUPPORT -DOLD_TIMERS_MONOS_SUPPORT -DMODBUS_IO_MASTER -fno-fast-math -mieee-fp -fno-unsafe-math-optimizations -Wno-declaration-after-statement -fno-builtin-sin -fno-builtin-cos -fno-builtin-sincos  -DMODULE  -DKBUILD_BASENAME='"motion"' -DKBUILD_MODNAME='"motmod"' -c -o /home/lcnc/linuxcnc/src/emc/motion/motion.o /home/lcnc/linuxcnc/src/emc/motion/motion.c
In file included from /usr/lib/gcc/x86_64-linux-gnu/14/include/stdint.h:11,
                 from /home/lcnc/linuxcnc/src/emc/motion/motion.h:63,
                 from /home/lcnc/linuxcnc/src/emc/motion/motion.c:20:
/usr/lib/gcc/x86_64-linux-gnu/14/include/stdint-gcc.h:43:24: error: conflicting types for ‘int64_t’; have ‘long int’
   43 | typedef __INT64_TYPE__ int64_t;
      |                        ^~~~~~~
In file included from ./arch/x86/include/asm/alternative.h:7,
                 from ./arch/x86/include/asm/barrier.h:5,
                 from ./include/linux/compiler.h:325,
                 from ./include/linux/ioport.h:13,
                 from /home/lcnc/linuxcnc/src/../include/rtapi.h:842,
                 from /home/lcnc/linuxcnc/src/emc/motion/motion.c:13:
./include/linux/types.h:114:33: note: previous declaration of ‘int64_t’ with type ‘int64_t’ {aka ‘long long int’}
  114 | typedef s64                     int64_t;
      |                                 ^~~~~~~
/usr/lib/gcc/x86_64-linux-gnu/14/include/stdint-gcc.h:55:25: error: conflicting types for ‘uint64_t’; have ‘long unsigned int’
   55 | typedef __UINT64_TYPE__ uint64_t;
      |                         ^~~~~~~~
./include/linux/types.h:112:33: note: previous declaration of ‘uint64_t’ with type ‘uint64_t’ {aka ‘long long unsigned int’}
  112 | typedef u64                     uint64_t;
      |                                 ^~~~~~~~
make[2]: [scripts/Makefile.build:262: /home/lcnc/linuxcnc/src/emc/motion/motion.o] Error 1 (ignored)
  gcc -Wp,-MD,/home/lcnc/linuxcnc/src/emc/motion/.command.o.d -nostdinc -isystem /usr/lib/gcc/x86_64-linux-gnu/14/include -I./arch/x86/include -I./arch/x86/include/generated  -I./include -I./arch/x86/include/uapi -I./arch/x86/include/generated/uapi -I./include/uapi -I./include/generated/uapi -include ./include/linux/kconfig.h -include ./include/linux/compiler_types.h -D__KERNEL__ -Wall -Wundef -Werror=strict-prototypes -Wno-trigraphs -fno-strict-aliasing -fno-common -fshort-wchar -fno-PIE -Werror=implicit-function-declaration -Werror=implicit-int -Werror=return-type -Wno-format-security -std=gnu89 -mno-sse -mno-mmx -mno-sse2 -mno-3dnow -mno-avx -fcf-protection=none -m64 -falign-jumps=1 -falign-loops=1 -mno-80387 -mno-fp-ret-in-387 -mpreferred-stack-boundary=3 -mskip-rax-setup -mtune=generic -mno-red-zone -mcmodel=kernel -DCONFIG_AS_CFI=1 -DCONFIG_AS_CFI_SIGNAL_FRAME=1 -DCONFIG_AS_CFI_SECTIONS=1 -DCONFIG_AS_SSSE3=1 -DCONFIG_AS_AVX=1 -DCONFIG_AS_AVX2=1 -DCONFIG_AS_AVX512=1 -DCONFIG_AS_SHA1_NI=1 -DCONFIG_AS_SHA256_NI=1 -Wno-sign-compare -fno-asynchronous-unwind-tables -fno-delete-null-pointer-checks -Wno-frame-address -Wno-format-truncation -Wno-format-overflow -Wno-address-of-packed-member -O2 -fno-allow-store-data-races -Wframe-larger-than=2048 -fstack-protector -Wimplicit-fallthrough -Wno-unused-but-set-variable -Wno-unused-const-variable -Wno-dangling-pointer -fomit-frame-pointer -fno-var-tracking-assignments -Wdeclaration-after-statement -Wvla -Wno-pointer-sign -Wno-stringop-truncation -Wno-zero-length-bounds -Wno-array-bounds -Wno-stringop-overflow -Wno-restrict -Wno-maybe-uninitialized -fno-strict-overflow -fno-merge-all-constants -fmerge-constants -fno-stack-check -fconserve-stack -Werror=date-time -Werror=incompatible-pointer-types -Werror=designated-init -fmacro-prefix-map=./= -Wno-packed-not-aligned -I. -I/usr/realtime-5.4.280-rtai-amd64/include -I. -I/usr/include/rtai -O2 -march=x86-64 -fomit-frame-pointer -pipe -D__IN_RTAI__ -mcmodel=kernel -std=gnu11 -nostdinc -ffreestanding -fno-pic -fno-builtin -fno-common -fno-unwind-tables -fno-asynchronous-unwind-tables -frounding-math -mpreferred-stack-boundary=4 -mstackrealign -mfpmath=sse -msse -msse2 -DRTAI=5 -DRTAPI -D_GNU_SOURCE -Drealtime -D__MODULE__ -I/home/lcnc/linuxcnc/src/../include -DSEQUENTIAL_SUPPORT -DHAL_SUPPORT -DDYNAMIC_PLCSIZE -DRT_SUPPORT -DOLD_TIMERS_MONOS_SUPPORT -DMODBUS_IO_MASTER -fno-fast-math -mieee-fp -fno-unsafe-math-optimizations -Wno-declaration-after-statement -fno-builtin-sin -fno-builtin-cos -fno-builtin-sincos  -DMODULE  -DKBUILD_BASENAME='"command"' -DKBUILD_MODNAME='"motmod"' -c -o /home/lcnc/linuxcnc/src/emc/motion/command.o /home/lcnc/linuxcnc/src/emc/motion/command.c
In file included from /usr/lib/gcc/x86_64-linux-gnu/14/include/stdint.h:11,
                 from /home/lcnc/linuxcnc/src/emc/motion/motion.h:63,
                 from /home/lcnc/linuxcnc/src/emc/motion/command.c:67:
/usr/lib/gcc/x86_64-linux-gnu/14/include/stdint-gcc.h:43:24: error: conflicting types for ‘int64_t’; have ‘long int’
   43 | typedef __INT64_TYPE__ int64_t;
      |                        ^~~~~~~
In file included from ./arch/x86/include/asm/alternative.h:7,
                 from ./arch/x86/include/asm/barrier.h:5,
                 from ./include/linux/compiler.h:325,
                 from ./include/linux/ioport.h:13,
                 from /home/lcnc/linuxcnc/src/../include/rtapi.h:842,
                 from /home/lcnc/linuxcnc/src/emc/motion/command.c:58:
./include/linux/types.h:114:33: note: previous declaration of ‘int64_t’ with type ‘int64_t’ {aka ‘long long int’}
  114 | typedef s64                     int64_t;
      |                                 ^~~~~~~
/usr/lib/gcc/x86_64-linux-gnu/14/include/stdint-gcc.h:55:25: error: conflicting types for ‘uint64_t’; have ‘long unsigned int’
   55 | typedef __UINT64_TYPE__ uint64_t;
      |                         ^~~~~~~~
./include/linux/types.h:112:33: note: previous declaration of ‘uint64_t’ with type ‘uint64_t’ {aka ‘long long unsigned int’}
  112 | typedef u64                     uint64_t;
      |                                 ^~~~~~~~
make[2]: [scripts/Makefile.build:262: /home/lcnc/linuxcnc/src/emc/motion/command.o] Error 1 (ignored)
  gcc -Wp,-MD,/home/lcnc/linuxcnc/src/emc/motion/.control.o.d -nostdinc -isystem /usr/lib/gcc/x86_64-linux-gnu/14/include -I./arch/x86/include -I./arch/x86/include/generated  -I./include -I./arch/x86/include/uapi -I./arch/x86/include/generated/uapi -I./include/uapi -I./include/generated/uapi -include ./include/linux/kconfig.h -include ./include/linux/compiler_types.h -D__KERNEL__ -Wall -Wundef -Werror=strict-prototypes -Wno-trigraphs -fno-strict-aliasing -fno-common -fshort-wchar -fno-PIE -Werror=implicit-function-declaration -Werror=implicit-int -Werror=return-type -Wno-format-security -std=gnu89 -mno-sse -mno-mmx -mno-sse2 -mno-3dnow -mno-avx -fcf-protection=none -m64 -falign-jumps=1 -falign-loops=1 -mno-80387 -mno-fp-ret-in-387 -mpreferred-stack-boundary=3 -mskip-rax-setup -mtune=generic -mno-red-zone -mcmodel=kernel -DCONFIG_AS_CFI=1 -DCONFIG_AS_CFI_SIGNAL_FRAME=1 -DCONFIG_AS_CFI_SECTIONS=1 -DCONFIG_AS_SSSE3=1 -DCONFIG_AS_AVX=1 -DCONFIG_AS_AVX2=1 -DCONFIG_AS_AVX512=1 -DCONFIG_AS_SHA1_NI=1 -DCONFIG_AS_SHA256_NI=1 -Wno-sign-compare -fno-asynchronous-unwind-tables -fno-delete-null-pointer-checks -Wno-frame-address -Wno-format-truncation -Wno-format-overflow -Wno-address-of-packed-member -O2 -fno-allow-store-data-races -Wframe-larger-than=2048 -fstack-protector -Wimplicit-fallthrough -Wno-unused-but-set-variable -Wno-unused-const-variable -Wno-dangling-pointer -fomit-frame-pointer -fno-var-tracking-assignments -Wdeclaration-after-statement -Wvla -Wno-pointer-sign -Wno-stringop-truncation -Wno-zero-length-bounds -Wno-array-bounds -Wno-stringop-overflow -Wno-restrict -Wno-maybe-uninitialized -fno-strict-overflow -fno-merge-all-constants -fmerge-constants -fno-stack-check -fconserve-stack -Werror=date-time -Werror=incompatible-pointer-types -Werror=designated-init -fmacro-prefix-map=./= -Wno-packed-not-aligned -I. -I/usr/realtime-5.4.280-rtai-amd64/include -I. -I/usr/include/rtai -O2 -march=x86-64 -fomit-frame-pointer -pipe -D__IN_RTAI__ -mcmodel=kernel -std=gnu11 -nostdinc -ffreestanding -fno-pic -fno-builtin -fno-common -fno-unwind-tables -fno-asynchronous-unwind-tables -frounding-math -mpreferred-stack-boundary=4 -mstackrealign -mfpmath=sse -msse -msse2 -DRTAI=5 -DRTAPI -D_GNU_SOURCE -Drealtime -D__MODULE__ -I/home/lcnc/linuxcnc/src/../include -DSEQUENTIAL_SUPPORT -DHAL_SUPPORT -DDYNAMIC_PLCSIZE -DRT_SUPPORT -DOLD_TIMERS_MONOS_SUPPORT -DMODBUS_IO_MASTER -fno-fast-math -mieee-fp -fno-unsafe-math-optimizations -Wno-declaration-after-statement -fno-builtin-sin -fno-builtin-cos -fno-builtin-sincos  -DMODULE  -DKBUILD_BASENAME='"control"' -DKBUILD_MODNAME='"motmod"' -c -o /home/lcnc/linuxcnc/src/emc/motion/control.o /home/lcnc/linuxcnc/src/emc/motion/control.c
In file included from /usr/lib/gcc/x86_64-linux-gnu/14/include/stdint.h:11,
                 from /home/lcnc/linuxcnc/src/emc/motion/motion.h:63,
                 from /home/lcnc/linuxcnc/src/emc/motion/control.c:32:
/usr/lib/gcc/x86_64-linux-gnu/14/include/stdint-gcc.h:43:24: error: conflicting types for ‘int64_t’; have ‘long int’
   43 | typedef __INT64_TYPE__ int64_t;
      |                        ^~~~~~~
In file included from ./arch/x86/include/asm/alternative.h:7,
                 from ./arch/x86/include/asm/barrier.h:5,
                 from ./include/linux/compiler.h:325,
                 from ./include/linux/ioport.h:13,
                 from /home/lcnc/linuxcnc/src/../include/rtapi.h:842,
                 from /home/lcnc/linuxcnc/src/emc/motion/control.c:23:
./include/linux/types.h:114:33: note: previous declaration of ‘int64_t’ with type ‘int64_t’ {aka ‘long long int’}
  114 | typedef s64                     int64_t;
      |                                 ^~~~~~~
/usr/lib/gcc/x86_64-linux-gnu/14/include/stdint-gcc.h:55:25: error: conflicting types for ‘uint64_t’; have ‘long unsigned int’
   55 | typedef __UINT64_TYPE__ uint64_t;
      |                         ^~~~~~~~
./include/linux/types.h:112:33: note: previous declaration of ‘uint64_t’ with type ‘uint64_t’ {aka ‘long long unsigned int’}
  112 | typedef u64                     uint64_t;
      |                                 ^~~~~~~~
/home/lcnc/linuxcnc/src/emc/motion/control.c:34:10: fatal error: config.h: No such file or directory
   34 | #include "config.h"
      |          ^~~~~~~~~~
compilation terminated.
make[2]: [scripts/Makefile.build:262: /home/lcnc/linuxcnc/src/emc/motion/control.o] Error 1 (ignored)
  gcc -Wp,-MD,/home/lcnc/linuxcnc/src/emc/motion/.simple_tp.o.d -nostdinc -isystem /usr/lib/gcc/x86_64-linux-gnu/14/include -I./arch/x86/include -I./arch/x86/include/generated  -I./include -I./arch/x86/include/uapi -I./arch/x86/include/generated/uapi -I./include/uapi -I./include/generated/uapi -include ./include/linux/kconfig.h -include ./include/linux/compiler_types.h -D__KERNEL__ -Wall -Wundef -Werror=strict-prototypes -Wno-trigraphs -fno-strict-aliasing -fno-common -fshort-wchar -fno-PIE -Werror=implicit-function-declaration -Werror=implicit-int -Werror=return-type -Wno-format-security -std=gnu89 -mno-sse -mno-mmx -mno-sse2 -mno-3dnow -mno-avx -fcf-protection=none -m64 -falign-jumps=1 -falign-loops=1 -mno-80387 -mno-fp-ret-in-387 -mpreferred-stack-boundary=3 -mskip-rax-setup -mtune=generic -mno-red-zone -mcmodel=kernel -DCONFIG_AS_CFI=1 -DCONFIG_AS_CFI_SIGNAL_FRAME=1 -DCONFIG_AS_CFI_SECTIONS=1 -DCONFIG_AS_SSSE3=1 -DCONFIG_AS_AVX=1 -DCONFIG_AS_AVX2=1 -DCONFIG_AS_AVX512=1 -DCONFIG_AS_SHA1_NI=1 -DCONFIG_AS_SHA256_NI=1 -Wno-sign-compare -fno-asynchronous-unwind-tables -fno-delete-null-pointer-checks -Wno-frame-address -Wno-format-truncation -Wno-format-overflow -Wno-address-of-packed-member -O2 -fno-allow-store-data-races -Wframe-larger-than=2048 -fstack-protector -Wimplicit-fallthrough -Wno-unused-but-set-variable -Wno-unused-const-variable -Wno-dangling-pointer -fomit-frame-pointer -fno-var-tracking-assignments -Wdeclaration-after-statement -Wvla -Wno-pointer-sign -Wno-stringop-truncation -Wno-zero-length-bounds -Wno-array-bounds -Wno-stringop-overflow -Wno-restrict -Wno-maybe-uninitialized -fno-strict-overflow -fno-merge-all-constants -fmerge-constants -fno-stack-check -fconserve-stack -Werror=date-time -Werror=incompatible-pointer-types -Werror=designated-init -fmacro-prefix-map=./= -Wno-packed-not-aligned -I. -I/usr/realtime-5.4.280-rtai-amd64/include -I. -I/usr/include/rtai -O2 -march=x86-64 -fomit-frame-pointer -pipe -D__IN_RTAI__ -mcmodel=kernel -std=gnu11 -nostdinc -ffreestanding -fno-pic -fno-builtin -fno-common -fno-unwind-tables -fno-asynchronous-unwind-tables -frounding-math -mpreferred-stack-boundary=4 -mstackrealign -mfpmath=sse -msse -msse2 -DRTAI=5 -DRTAPI -D_GNU_SOURCE -Drealtime -D__MODULE__ -I/home/lcnc/linuxcnc/src/../include -DSEQUENTIAL_SUPPORT -DHAL_SUPPORT -DDYNAMIC_PLCSIZE -DRT_SUPPORT -DOLD_TIMERS_MONOS_SUPPORT -DMODBUS_IO_MASTER -fno-fast-math -mieee-fp -fno-unsafe-math-optimizations -Wno-declaration-after-statement -fno-builtin-sin -fno-builtin-cos -fno-builtin-sincos  -DMODULE  -DKBUILD_BASENAME='"simple_tp"' -DKBUILD_MODNAME='"motmod"' -c -o /home/lcnc/linuxcnc/src/emc/motion/simple_tp.o /home/lcnc/linuxcnc/src/emc/motion/simple_tp.c
In file included from /usr/lib/gcc/x86_64-linux-gnu/14/include/stdint.h:11,
                 from /home/lcnc/linuxcnc/src/emc/motion/../motion/motion.h:63,
                 from /home/lcnc/linuxcnc/src/emc/motion/mot_priv.h:31,
                 from /home/lcnc/linuxcnc/src/emc/motion/simple_tp.c:17:
/usr/lib/gcc/x86_64-linux-gnu/14/include/stdint-gcc.h:43:24: error: conflicting types for ‘int64_t’; have ‘long int’
   43 | typedef __INT64_TYPE__ int64_t;
      |                        ^~~~~~~
In file included from ./arch/x86/include/asm/alternative.h:7,
                 from ./arch/x86/include/asm/barrier.h:5,
                 from ./include/linux/compiler.h:325,
                 from ./include/linux/ioport.h:13,
                 from /home/lcnc/linuxcnc/src/../include/rtapi.h:842,
                 from /home/lcnc/linuxcnc/src/../include/rtapi_math.h:19,
                 from /home/lcnc/linuxcnc/src/emc/motion/simple_tp.c:13:
./include/linux/types.h:114:33: note: previous declaration of ‘int64_t’ with type ‘int64_t’ {aka ‘long long int’}
  114 | typedef s64                     int64_t;
      |                                 ^~~~~~~
/usr/lib/gcc/x86_64-linux-gnu/14/include/stdint-gcc.h:55:25: error: conflicting types for ‘uint64_t’; have ‘long unsigned int’
   55 | typedef __UINT64_TYPE__ uint64_t;
      |                         ^~~~~~~~
./include/linux/types.h:112:33: note: previous declaration of ‘uint64_t’ with type ‘uint64_t’ {aka ‘long long unsigned int’}
  112 | typedef u64                     uint64_t;
      |                                 ^~~~~~~~
make[2]: [scripts/Makefile.build:262: /home/lcnc/linuxcnc/src/emc/motion/simple_tp.o] Error 1 (ignored)
  gcc -Wp,-MD,/home/lcnc/linuxcnc/src/emc/motion/.emcmotutil.o.d -nostdinc -isystem /usr/lib/gcc/x86_64-linux-gnu/14/include -I./arch/x86/include -I./arch/x86/include/generated  -I./include -I./arch/x86/include/uapi -I./arch/x86/include/generated/uapi -I./include/uapi -I./include/generated/uapi -include ./include/linux/kconfig.h -include ./include/linux/compiler_types.h -D__KERNEL__ -Wall -Wundef -Werror=strict-prototypes -Wno-trigraphs -fno-strict-aliasing -fno-common -fshort-wchar -fno-PIE -Werror=implicit-function-declaration -Werror=implicit-int -Werror=return-type -Wno-format-security -std=gnu89 -mno-sse -mno-mmx -mno-sse2 -mno-3dnow -mno-avx -fcf-protection=none -m64 -falign-jumps=1 -falign-loops=1 -mno-80387 -mno-fp-ret-in-387 -mpreferred-stack-boundary=3 -mskip-rax-setup -mtune=generic -mno-red-zone -mcmodel=kernel -DCONFIG_AS_CFI=1 -DCONFIG_AS_CFI_SIGNAL_FRAME=1 -DCONFIG_AS_CFI_SECTIONS=1 -DCONFIG_AS_SSSE3=1 -DCONFIG_AS_AVX=1 -DCONFIG_AS_AVX2=1 -DCONFIG_AS_AVX512=1 -DCONFIG_AS_SHA1_NI=1 -DCONFIG_AS_SHA256_NI=1 -Wno-sign-compare -fno-asynchronous-unwind-tables -fno-delete-null-pointer-checks -Wno-frame-address -Wno-format-truncation -Wno-format-overflow -Wno-address-of-packed-member -O2 -fno-allow-store-data-races -Wframe-larger-than=2048 -fstack-protector -Wimplicit-fallthrough -Wno-unused-but-set-variable -Wno-unused-const-variable -Wno-dangling-pointer -fomit-frame-pointer -fno-var-tracking-assignments -Wdeclaration-after-statement -Wvla -Wno-pointer-sign -Wno-stringop-truncation -Wno-zero-length-bounds -Wno-array-bounds -Wno-stringop-overflow -Wno-restrict -Wno-maybe-uninitialized -fno-strict-overflow -fno-merge-all-constants -fmerge-constants -fno-stack-check -fconserve-stack -Werror=date-time -Werror=incompatible-pointer-types -Werror=designated-init -fmacro-prefix-map=./= -Wno-packed-not-aligned -I. -I/usr/realtime-5.4.280-rtai-amd64/include -I. -I/usr/include/rtai -O2 -march=x86-64 -fomit-frame-pointer -pipe -D__IN_RTAI__ -mcmodel=kernel -std=gnu11 -nostdinc -ffreestanding -fno-pic -fno-builtin -fno-common -fno-unwind-tables -fno-asynchronous-unwind-tables -frounding-math -mpreferred-stack-boundary=4 -mstackrealign -mfpmath=sse -msse -msse2 -DRTAI=5 -DRTAPI -D_GNU_SOURCE -Drealtime -D__MODULE__ -I/home/lcnc/linuxcnc/src/../include -DSEQUENTIAL_SUPPORT -DHAL_SUPPORT -DDYNAMIC_PLCSIZE -DRT_SUPPORT -DOLD_TIMERS_MONOS_SUPPORT -DMODBUS_IO_MASTER -fno-fast-math -mieee-fp -fno-unsafe-math-optimizations -Wno-declaration-after-statement -fno-builtin-sin -fno-builtin-cos -fno-builtin-sincos  -DMODULE  -DKBUILD_BASENAME='"emcmotutil"' -DKBUILD_MODNAME='"motmod"' -c -o /home/lcnc/linuxcnc/src/emc/motion/emcmotutil.o /home/lcnc/linuxcnc/src/emc/motion/emcmotutil.c
In file included from /home/lcnc/linuxcnc/src/../include/rtapi_bool.h:19,
                 from /home/lcnc/linuxcnc/src/emc/motion/motion.h:66,
                 from /home/lcnc/linuxcnc/src/emc/motion/emcmotutil.c:15:
./include/linux/types.h:112:33: error: conflicting types for ‘uint64_t’; have ‘u64’ {aka ‘long long unsigned int’}
  112 | typedef u64                     uint64_t;
      |                                 ^~~~~~~~
In file included from /usr/lib/gcc/x86_64-linux-gnu/14/include/stdint.h:11,
                 from /home/lcnc/linuxcnc/src/emc/motion/motion.h:63:
/usr/lib/gcc/x86_64-linux-gnu/14/include/stdint-gcc.h:55:25: note: previous declaration of ‘uint64_t’ with type ‘uint64_t’ {aka ‘long unsigned int’}
   55 | typedef __UINT64_TYPE__ uint64_t;
      |                         ^~~~~~~~
./include/linux/types.h:114:33: error: conflicting types for ‘int64_t’; have ‘s64’ {aka ‘long long int’}
  114 | typedef s64                     int64_t;
      |                                 ^~~~~~~
/usr/lib/gcc/x86_64-linux-gnu/14/include/stdint-gcc.h:43:24: note: previous declaration of ‘int64_t’ with type ‘int64_t’ {aka ‘long int’}
   43 | typedef __INT64_TYPE__ int64_t;
      |                        ^~~~~~~
In file included from ./include/linux/kernel.h:7,
                 from /home/lcnc/linuxcnc/src/../include/rtapi_limits.h:22,
                 from /home/lcnc/linuxcnc/src/emc/motion/motion.h:67:
./include/linux/limits.h:20:9: warning: "SIZE_MAX" redefined
   20 | #define SIZE_MAX        (~(size_t)0)
      |         ^~~~~~~~
/usr/lib/gcc/x86_64-linux-gnu/14/include/stdint-gcc.h:221:9: note: this is the location of the previous definition
  221 | #define SIZE_MAX __SIZE_MAX__
      |         ^~~~~~~~
make[2]: [scripts/Makefile.build:262: /home/lcnc/linuxcnc/src/emc/motion/emcmotutil.o] Error 1 (ignored)
  gcc -Wp,-MD,/home/lcnc/linuxcnc/src/emc/tp/.ruckig_wrapper.o.d -nostdinc -isystem /usr/lib/gcc/x86_64-linux-gnu/14/include -I./arch/x86/include -I./arch/x86/include/generated  -I./include -I./arch/x86/include/uapi -I./arch/x86/include/generated/uapi -I./include/uapi -I./include/generated/uapi -include ./include/linux/kconfig.h -include ./include/linux/compiler_types.h -D__KERNEL__ -Wall -Wundef -Werror=strict-prototypes -Wno-trigraphs -fno-strict-aliasing -fno-common -fshort-wchar -fno-PIE -Werror=implicit-function-declaration -Werror=implicit-int -Werror=return-type -Wno-format-security -std=gnu89 -mno-sse -mno-mmx -mno-sse2 -mno-3dnow -mno-avx -fcf-protection=none -m64 -falign-jumps=1 -falign-loops=1 -mno-80387 -mno-fp-ret-in-387 -mpreferred-stack-boundary=3 -mskip-rax-setup -mtune=generic -mno-red-zone -mcmodel=kernel -DCONFIG_AS_CFI=1 -DCONFIG_AS_CFI_SIGNAL_FRAME=1 -DCONFIG_AS_CFI_SECTIONS=1 -DCONFIG_AS_SSSE3=1 -DCONFIG_AS_AVX=1 -DCONFIG_AS_AVX2=1 -DCONFIG_AS_AVX512=1 -DCONFIG_AS_SHA1_NI=1 -DCONFIG_AS_SHA256_NI=1 -Wno-sign-compare -fno-asynchronous-unwind-tables -fno-delete-null-pointer-checks -Wno-frame-address -Wno-format-truncation -Wno-format-overflow -Wno-address-of-packed-member -O2 -fno-allow-store-data-races -Wframe-larger-than=2048 -fstack-protector -Wimplicit-fallthrough -Wno-unused-but-set-variable -Wno-unused-const-variable -Wno-dangling-pointer -fomit-frame-pointer -fno-var-tracking-assignments -Wdeclaration-after-statement -Wvla -Wno-pointer-sign -Wno-stringop-truncation -Wno-zero-length-bounds -Wno-array-bounds -Wno-stringop-overflow -Wno-restrict -Wno-maybe-uninitialized -fno-strict-overflow -fno-merge-all-constants -fmerge-constants -fno-stack-check -fconserve-stack -Werror=date-time -Werror=incompatible-pointer-types -Werror=designated-init -fmacro-prefix-map=./= -Wno-packed-not-aligned -I. -I/usr/realtime-5.4.280-rtai-amd64/include -I. -I/usr/include/rtai -O2 -march=x86-64 -fomit-frame-pointer -pipe -D__IN_RTAI__ -mcmodel=kernel -std=gnu11 -nostdinc -ffreestanding -fno-pic -fno-builtin -fno-common -fno-unwind-tables -fno-asynchronous-unwind-tables -frounding-math -mpreferred-stack-boundary=4 -mstackrealign -mfpmath=sse -msse -msse2 -DRTAI=5 -DRTAPI -D_GNU_SOURCE -Drealtime -D__MODULE__ -I/home/lcnc/linuxcnc/src/../include -DSEQUENTIAL_SUPPORT -DHAL_SUPPORT -DDYNAMIC_PLCSIZE -DRT_SUPPORT -DOLD_TIMERS_MONOS_SUPPORT -DMODBUS_IO_MASTER -fno-fast-math -mieee-fp -fno-unsafe-math-optimizations -Wno-declaration-after-statement -fno-builtin-sin -fno-builtin-cos -fno-builtin-sincos  -DMODULE  -DKBUILD_BASENAME='"ruckig_wrapper"' -DKBUILD_MODNAME='"motmod:tpmod"' -c -o /home/lcnc/linuxcnc/src/emc/tp/ruckig_wrapper.o /home/lcnc/linuxcnc/src/emc/tp/ruckig_wrapper.c
/home/lcnc/linuxcnc/src/emc/tp/ruckig_wrapper.c:19:10: fatal error: cstdlib: No such file or directory
   19 | #include <cstdlib>  // for free()
      |          ^~~~~~~~~
compilation terminated.
make[2]: [scripts/Makefile.build:262: /home/lcnc/linuxcnc/src/emc/tp/ruckig_wrapper.o] Error 1 (ignored)
make[2]: *** No rule to make target '/home/lcnc/linuxcnc/src/emc/tp/ruckig/src/ruckig/brake.o', needed by '/home/lcnc/linuxcnc/src/motmod.o'.
make[2]: *** No rule to make target '/home/lcnc/linuxcnc/src/emc/tp/ruckig/src/ruckig/position_first_step1.o', needed by '/home/lcnc/linuxcnc/src/motmod.o'.
make[2]: *** No rule to make target '/home/lcnc/linuxcnc/src/emc/tp/ruckig/src/ruckig/position_first_step2.o', needed by '/home/lcnc/linuxcnc/src/motmod.o'.
make[2]: *** No rule to make target '/home/lcnc/linuxcnc/src/emc/tp/ruckig/src/ruckig/position_second_step1.o', needed by '/home/lcnc/linuxcnc/src/motmod.o'.
make[2]: *** No rule to make target '/home/lcnc/linuxcnc/src/emc/tp/ruckig/src/ruckig/position_second_step2.o', needed by '/home/lcnc/linuxcnc/src/motmod.o'.
make[2]: *** No rule to make target '/home/lcnc/linuxcnc/src/emc/tp/ruckig/src/ruckig/position_third_step1.o', needed by '/home/lcnc/linuxcnc/src/motmod.o'.
make[2]: *** No rule to make target '/home/lcnc/linuxcnc/src/emc/tp/ruckig/src/ruckig/position_third_step2.o', needed by '/home/lcnc/linuxcnc/src/motmod.o'.
make[2]: *** No rule to make target '/home/lcnc/linuxcnc/src/emc/tp/ruckig/src/ruckig/velocity_second_step1.o', needed by '/home/lcnc/linuxcnc/src/motmod.o'.
make[2]: *** No rule to make target '/home/lcnc/linuxcnc/src/emc/tp/ruckig/src/ruckig/velocity_second_step2.o', needed by '/home/lcnc/linuxcnc/src/motmod.o'.
make[2]: *** No rule to make target '/home/lcnc/linuxcnc/src/emc/tp/ruckig/src/ruckig/velocity_third_step1.o', needed by '/home/lcnc/linuxcnc/src/motmod.o'.
make[2]: *** No rule to make target '/home/lcnc/linuxcnc/src/emc/tp/ruckig/src/ruckig/velocity_third_step2.o', needed by '/home/lcnc/linuxcnc/src/motmod.o'.
  gcc -Wp,-MD,/home/lcnc/linuxcnc/src/emc/tp/.tc.o.d -nostdinc -isystem /usr/lib/gcc/x86_64-linux-gnu/14/include -I./arch/x86/include -I./arch/x86/include/generated  -I./include -I./arch/x86/include/uapi -I./arch/x86/include/generated/uapi -I./include/uapi -I./include/generated/uapi -include ./include/linux/kconfig.h -include ./include/linux/compiler_types.h -D__KERNEL__ -Wall -Wundef -Werror=strict-prototypes -Wno-trigraphs -fno-strict-aliasing -fno-common -fshort-wchar -fno-PIE -Werror=implicit-function-declaration -Werror=implicit-int -Werror=return-type -Wno-format-security -std=gnu89 -mno-sse -mno-mmx -mno-sse2 -mno-3dnow -mno-avx -fcf-protection=none -m64 -falign-jumps=1 -falign-loops=1 -mno-80387 -mno-fp-ret-in-387 -mpreferred-stack-boundary=3 -mskip-rax-setup -mtune=generic -mno-red-zone -mcmodel=kernel -DCONFIG_AS_CFI=1 -DCONFIG_AS_CFI_SIGNAL_FRAME=1 -DCONFIG_AS_CFI_SECTIONS=1 -DCONFIG_AS_SSSE3=1 -DCONFIG_AS_AVX=1 -DCONFIG_AS_AVX2=1 -DCONFIG_AS_AVX512=1 -DCONFIG_AS_SHA1_NI=1 -DCONFIG_AS_SHA256_NI=1 -Wno-sign-compare -fno-asynchronous-unwind-tables -fno-delete-null-pointer-checks -Wno-frame-address -Wno-format-truncation -Wno-format-overflow -Wno-address-of-packed-member -O2 -fno-allow-store-data-races -Wframe-larger-than=2048 -fstack-protector -Wimplicit-fallthrough -Wno-unused-but-set-variable -Wno-unused-const-variable -Wno-dangling-pointer -fomit-frame-pointer -fno-var-tracking-assignments -Wdeclaration-after-statement -Wvla -Wno-pointer-sign -Wno-stringop-truncation -Wno-zero-length-bounds -Wno-array-bounds -Wno-stringop-overflow -Wno-restrict -Wno-maybe-uninitialized -fno-strict-overflow -fno-merge-all-constants -fmerge-constants -fno-stack-check -fconserve-stack -Werror=date-time -Werror=incompatible-pointer-types -Werror=designated-init -fmacro-prefix-map=./= -Wno-packed-not-aligned -I. -I/usr/realtime-5.4.280-rtai-amd64/include -I. -I/usr/include/rtai -O2 -march=x86-64 -fomit-frame-pointer -pipe -D__IN_RTAI__ -mcmodel=kernel -std=gnu11 -nostdinc -ffreestanding -fno-pic -fno-builtin -fno-common -fno-unwind-tables -fno-asynchronous-unwind-tables -frounding-math -mpreferred-stack-boundary=4 -mstackrealign -mfpmath=sse -msse -msse2 -DRTAI=5 -DRTAPI -D_GNU_SOURCE -Drealtime -D__MODULE__ -I/home/lcnc/linuxcnc/src/../include -DSEQUENTIAL_SUPPORT -DHAL_SUPPORT -DDYNAMIC_PLCSIZE -DRT_SUPPORT -DOLD_TIMERS_MONOS_SUPPORT -DMODBUS_IO_MASTER -fno-fast-math -mieee-fp -fno-unsafe-math-optimizations -Wno-declaration-after-statement -fno-builtin-sin -fno-builtin-cos -fno-builtin-sincos  -DMODULE  -DKBUILD_BASENAME='"tc"' -DKBUILD_MODNAME='"tpmod"' -c -o /home/lcnc/linuxcnc/src/emc/tp/tc.o /home/lcnc/linuxcnc/src/emc/tp/tc.c
In file included from /usr/lib/gcc/x86_64-linux-gnu/14/include/stdint.h:11,
                 from /home/lcnc/linuxcnc/src/emc/tp/../motion/motion.h:63,
                 from /home/lcnc/linuxcnc/src/emc/tp/tc.c:27:
/usr/lib/gcc/x86_64-linux-gnu/14/include/stdint-gcc.h:43:24: error: conflicting types for ‘int64_t’; have ‘long int’
   43 | typedef __INT64_TYPE__ int64_t;
      |                        ^~~~~~~
In file included from ./arch/x86/include/asm/alternative.h:7,
                 from ./arch/x86/include/asm/barrier.h:5,
                 from ./include/linux/compiler.h:325,
                 from ./include/linux/ioport.h:13,
                 from /home/lcnc/linuxcnc/src/../include/rtapi.h:842,
                 from /home/lcnc/linuxcnc/src/emc/tp/tc.c:17:
./include/linux/types.h:114:33: note: previous declaration of ‘int64_t’ with type ‘int64_t’ {aka ‘long long int’}
  114 | typedef s64                     int64_t;
      |                                 ^~~~~~~
/usr/lib/gcc/x86_64-linux-gnu/14/include/stdint-gcc.h:55:25: error: conflicting types for ‘uint64_t’; have ‘long unsigned int’
   55 | typedef __UINT64_TYPE__ uint64_t;
      |                         ^~~~~~~~
./include/linux/types.h:112:33: note: previous declaration of ‘uint64_t’ with type ‘uint64_t’ {aka ‘long long unsigned int’}
  112 | typedef u64                     uint64_t;
      |                                 ^~~~~~~~
/home/lcnc/linuxcnc/src/emc/tp/tc.c: In function ‘tcUpdateArcLimits’:
/home/lcnc/linuxcnc/src/emc/tp/tc.c:893:36: error: implicit declaration of function ‘cbrt’ [-Wimplicit-function-declaration]
  893 |         double v_max_jerk_steady = cbrt(R_sq * jerk * angle / (2.0 + angle));
      |                                    ^~~~
make[2]: [scripts/Makefile.build:262: /home/lcnc/linuxcnc/src/emc/tp/tc.o] Error 1 (ignored)
  gcc -Wp,-MD,/home/lcnc/linuxcnc/src/emc/tp/.tp.o.d -nostdinc -isystem /usr/lib/gcc/x86_64-linux-gnu/14/include -I./arch/x86/include -I./arch/x86/include/generated  -I./include -I./arch/x86/include/uapi -I./arch/x86/include/generated/uapi -I./include/uapi -I./include/generated/uapi -include ./include/linux/kconfig.h -include ./include/linux/compiler_types.h -D__KERNEL__ -Wall -Wundef -Werror=strict-prototypes -Wno-trigraphs -fno-strict-aliasing -fno-common -fshort-wchar -fno-PIE -Werror=implicit-function-declaration -Werror=implicit-int -Werror=return-type -Wno-format-security -std=gnu89 -mno-sse -mno-mmx -mno-sse2 -mno-3dnow -mno-avx -fcf-protection=none -m64 -falign-jumps=1 -falign-loops=1 -mno-80387 -mno-fp-ret-in-387 -mpreferred-stack-boundary=3 -mskip-rax-setup -mtune=generic -mno-red-zone -mcmodel=kernel -DCONFIG_AS_CFI=1 -DCONFIG_AS_CFI_SIGNAL_FRAME=1 -DCONFIG_AS_CFI_SECTIONS=1 -DCONFIG_AS_SSSE3=1 -DCONFIG_AS_AVX=1 -DCONFIG_AS_AVX2=1 -DCONFIG_AS_AVX512=1 -DCONFIG_AS_SHA1_NI=1 -DCONFIG_AS_SHA256_NI=1 -Wno-sign-compare -fno-asynchronous-unwind-tables -fno-delete-null-pointer-checks -Wno-frame-address -Wno-format-truncation -Wno-format-overflow -Wno-address-of-packed-member -O2 -fno-allow-store-data-races -Wframe-larger-than=2048 -fstack-protector -Wimplicit-fallthrough -Wno-unused-but-set-variable -Wno-unused-const-variable -Wno-dangling-pointer -fomit-frame-pointer -fno-var-tracking-assignments -Wdeclaration-after-statement -Wvla -Wno-pointer-sign -Wno-stringop-truncation -Wno-zero-length-bounds -Wno-array-bounds -Wno-stringop-overflow -Wno-restrict -Wno-maybe-uninitialized -fno-strict-overflow -fno-merge-all-constants -fmerge-constants -fno-stack-check -fconserve-stack -Werror=date-time -Werror=incompatible-pointer-types -Werror=designated-init -fmacro-prefix-map=./= -Wno-packed-not-aligned -I. -I/usr/realtime-5.4.280-rtai-amd64/include -I. -I/usr/include/rtai -O2 -march=x86-64 -fomit-frame-pointer -pipe -D__IN_RTAI__ -mcmodel=kernel -std=gnu11 -nostdinc -ffreestanding -fno-pic -fno-builtin -fno-common -fno-unwind-tables -fno-asynchronous-unwind-tables -frounding-math -mpreferred-stack-boundary=4 -mstackrealign -mfpmath=sse -msse -msse2 -DRTAI=5 -DRTAPI -D_GNU_SOURCE -Drealtime -D__MODULE__ -I/home/lcnc/linuxcnc/src/../include -DSEQUENTIAL_SUPPORT -DHAL_SUPPORT -DDYNAMIC_PLCSIZE -DRT_SUPPORT -DOLD_TIMERS_MONOS_SUPPORT -DMODBUS_IO_MASTER -fno-fast-math -mieee-fp -fno-unsafe-math-optimizations -Wno-declaration-after-statement -fno-builtin-sin -fno-builtin-cos -fno-builtin-sincos  -DMODULE  -DKBUILD_BASENAME='"tp"' -DKBUILD_MODNAME='"tpmod"' -c -o /home/lcnc/linuxcnc/src/emc/tp/tp.o /home/lcnc/linuxcnc/src/emc/tp/tp.c
In file included from /usr/lib/gcc/x86_64-linux-gnu/14/include/stdint.h:11,
                 from /home/lcnc/linuxcnc/src/emc/tp/../motion/motion.h:63,
                 from /home/lcnc/linuxcnc/src/emc/tp/tp.c:18:
/usr/lib/gcc/x86_64-linux-gnu/14/include/stdint-gcc.h:43:24: error: conflicting types for ‘int64_t’; have ‘long int’
   43 | typedef __INT64_TYPE__ int64_t;
      |                        ^~~~~~~
In file included from ./arch/x86/include/asm/alternative.h:7,
                 from ./arch/x86/include/asm/barrier.h:5,
                 from ./include/linux/compiler.h:325,
                 from ./include/linux/ioport.h:13,
                 from /home/lcnc/linuxcnc/src/../include/rtapi.h:842,
                 from /home/lcnc/linuxcnc/src/emc/tp/tp.c:13:
./include/linux/types.h:114:33: note: previous declaration of ‘int64_t’ with type ‘int64_t’ {aka ‘long long int’}
  114 | typedef s64                     int64_t;
      |                                 ^~~~~~~
/usr/lib/gcc/x86_64-linux-gnu/14/include/stdint-gcc.h:55:25: error: conflicting types for ‘uint64_t’; have ‘long unsigned int’
   55 | typedef __UINT64_TYPE__ uint64_t;
      |                         ^~~~~~~~
./include/linux/types.h:112:33: note: previous declaration of ‘uint64_t’ with type ‘uint64_t’ {aka ‘long long unsigned int’}
  112 | typedef u64                     uint64_t;
      |                                 ^~~~~~~~
/home/lcnc/linuxcnc/src/emc/tp/tp.c:44:10: fatal error: stdio.h: No such file or directory
   44 | #include <stdio.h>
      |          ^~~~~~~~~
compilation terminated.
make[2]: [scripts/Makefile.build:262: /home/lcnc/linuxcnc/src/emc/tp/tp.o] Error 1 (ignored)
  gcc -Wp,-MD,/home/lcnc/linuxcnc/src/emc/tp/.blendmath.o.d -nostdinc -isystem /usr/lib/gcc/x86_64-linux-gnu/14/include -I./arch/x86/include -I./arch/x86/include/generated  -I./include -I./arch/x86/include/uapi -I./arch/x86/include/generated/uapi -I./include/uapi -I./include/generated/uapi -include ./include/linux/kconfig.h -include ./include/linux/compiler_types.h -D__KERNEL__ -Wall -Wundef -Werror=strict-prototypes -Wno-trigraphs -fno-strict-aliasing -fno-common -fshort-wchar -fno-PIE -Werror=implicit-function-declaration -Werror=implicit-int -Werror=return-type -Wno-format-security -std=gnu89 -mno-sse -mno-mmx -mno-sse2 -mno-3dnow -mno-avx -fcf-protection=none -m64 -falign-jumps=1 -falign-loops=1 -mno-80387 -mno-fp-ret-in-387 -mpreferred-stack-boundary=3 -mskip-rax-setup -mtune=generic -mno-red-zone -mcmodel=kernel -DCONFIG_AS_CFI=1 -DCONFIG_AS_CFI_SIGNAL_FRAME=1 -DCONFIG_AS_CFI_SECTIONS=1 -DCONFIG_AS_SSSE3=1 -DCONFIG_AS_AVX=1 -DCONFIG_AS_AVX2=1 -DCONFIG_AS_AVX512=1 -DCONFIG_AS_SHA1_NI=1 -DCONFIG_AS_SHA256_NI=1 -Wno-sign-compare -fno-asynchronous-unwind-tables -fno-delete-null-pointer-checks -Wno-frame-address -Wno-format-truncation -Wno-format-overflow -Wno-address-of-packed-member -O2 -fno-allow-store-data-races -Wframe-larger-than=2048 -fstack-protector -Wimplicit-fallthrough -Wno-unused-but-set-variable -Wno-unused-const-variable -Wno-dangling-pointer -fomit-frame-pointer -fno-var-tracking-assignments -Wdeclaration-after-statement -Wvla -Wno-pointer-sign -Wno-stringop-truncation -Wno-zero-length-bounds -Wno-array-bounds -Wno-stringop-overflow -Wno-restrict -Wno-maybe-uninitialized -fno-strict-overflow -fno-merge-all-constants -fmerge-constants -fno-stack-check -fconserve-stack -Werror=date-time -Werror=incompatible-pointer-types -Werror=designated-init -fmacro-prefix-map=./= -Wno-packed-not-aligned -I. -I/usr/realtime-5.4.280-rtai-amd64/include -I. -I/usr/include/rtai -O2 -march=x86-64 -fomit-frame-pointer -pipe -D__IN_RTAI__ -mcmodel=kernel -std=gnu11 -nostdinc -ffreestanding -fno-pic -fno-builtin -fno-common -fno-unwind-tables -fno-asynchronous-unwind-tables -frounding-math -mpreferred-stack-boundary=4 -mstackrealign -mfpmath=sse -msse -msse2 -DRTAI=5 -DRTAPI -D_GNU_SOURCE -Drealtime -D__MODULE__ -I/home/lcnc/linuxcnc/src/../include -DSEQUENTIAL_SUPPORT -DHAL_SUPPORT -DDYNAMIC_PLCSIZE -DRT_SUPPORT -DOLD_TIMERS_MONOS_SUPPORT -DMODBUS_IO_MASTER -fno-fast-math -mieee-fp -fno-unsafe-math-optimizations -Wno-declaration-after-statement -fno-builtin-sin -fno-builtin-cos -fno-builtin-sincos  -DMODULE  -DKBUILD_BASENAME='"blendmath"' -DKBUILD_MODNAME='"tpmod"' -c -o /home/lcnc/linuxcnc/src/emc/tp/blendmath.o /home/lcnc/linuxcnc/src/emc/tp/blendmath.c
In file included from /usr/lib/gcc/x86_64-linux-gnu/14/include/stdint.h:11,
                 from /home/lcnc/linuxcnc/src/emc/tp/../motion/motion.h:63,
                 from /home/lcnc/linuxcnc/src/emc/tp/blendmath.c:23:
/usr/lib/gcc/x86_64-linux-gnu/14/include/stdint-gcc.h:43:24: error: conflicting types for ‘int64_t’; have ‘long int’
   43 | typedef __INT64_TYPE__ int64_t;
      |                        ^~~~~~~
In file included from ./arch/x86/include/asm/alternative.h:7,
                 from ./arch/x86/include/asm/barrier.h:5,
                 from ./include/linux/compiler.h:325,
                 from ./include/linux/ioport.h:13,
                 from /home/lcnc/linuxcnc/src/../include/rtapi.h:842,
                 from /home/lcnc/linuxcnc/src/../include/rtapi_math.h:19,
                 from /home/lcnc/linuxcnc/src/emc/tp/blendmath.c:14:
./include/linux/types.h:114:33: note: previous declaration of ‘int64_t’ with type ‘int64_t’ {aka ‘long long int’}
  114 | typedef s64                     int64_t;
      |                                 ^~~~~~~
/usr/lib/gcc/x86_64-linux-gnu/14/include/stdint-gcc.h:55:25: error: conflicting types for ‘uint64_t’; have ‘long unsigned int’
   55 | typedef __UINT64_TYPE__ uint64_t;
      |                         ^~~~~~~~
./include/linux/types.h:112:33: note: previous declaration of ‘uint64_t’ with type ‘uint64_t’ {aka ‘long long unsigned int’}
  112 | typedef u64                     uint64_t;
      |                                 ^~~~~~~~
make[2]: [scripts/Makefile.build:262: /home/lcnc/linuxcnc/src/emc/tp/blendmath.o] Error 1 (ignored)
make[2]: Target '__build' not remade because of errors.
make[1]: [Makefile:1754: /home/lcnc/linuxcnc/src] Error 2 (ignored)

Never include userspace headers in kernel space otherwise this happens.

[BsAtHome]

The attached diff will fix all of the above.

And then it will fail hard because of C++ code added to the trajectory planner. The ruckig code is C++ and that cannot be compiled into a kernel module trajectory planner. Ruckig also uses standard user-space libc calls not available in kernel land. There are several ways to fix this: 1) get rid of ruckig, 2) rewrite it in plain C or 3) take the trajectory planner out of RT and kernel space.

rtai-fixes.diff.txt

[BsAtHome]

Also see #3875.

[rene-dev]

or, get rid of rtai in master. It is literally dead. https://www.rtai.org/