Hi everyone, mostly Steffen Möller,
|https://github.com/LinuxCNC/linuxcnc/issues/3875
https://github.com/LinuxCNC/linuxcnc/issues/3873|
Building on the options laid out in #3875 and the RTAI build failures in
#3873, I'd like to propose a concrete path forward.
Regarding option 3 in #3875 (moving the trajectory planner out of the RT
kernel): that work is already underway in the 9D branch. TP1, however,
was intentionally designed to run in-kernel RT, and I think there is
real value in keeping both options available to the community. Having an
in-kernel RT trajectory planner and an out-of-kernel one serve different
architectural needs, and one does not make the other redundant. So for
TP1, option 2 (rewriting the Ruckig code as plain C) seems like the
right fix.
To that end, I'd like to propose creating a C port of Ruckig,
tentatively called cruckig, maintained as a separate repository. The
upstream Ruckig library is mathematically stable and well-tested at this
point; activity there is mostly wrapper updates, not algorithmic
changes. A C port would be safe to stabilize and maintain independently.
A few open questions I'd welcome input on:
1. Would it make sense to host this under the LinuxCNC organization,
something like https://github.com/LinuxCNC/cruckig?
2. On the integration path: should cruckig be bundled inside LinuxCNC
first (similar to how Ruckig is now), go through the Debian packaging
process in parallel, and then be extracted as a proper dependency once
packaged? Or is it cleaner to pursue the separate repo and Debian
package from the start, and only integrate it as a dependency once that
is in place?
3. I have not personally gone through the Debian packaging process, so
I'd welcome guidance on what that realistically involves and whether the
phased approach is standard practice or just added complexity.
Looking forward to hearing your thoughts.
Best regards,
--
*Luca Toniolo*
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