configure: Change "sim" to "uspace", with fallout elsewhere

scripts/realtime.in

@@ -75,7 +75,7 @@ CheckConfig(){
     MODULES_LOAD=
     MODULES_UNLOAD=
     case $RTPREFIX in
-    sim) SHM_DEV=/dev/zero;;
+    uspace) SHM_DEV=/dev/zero;;
     *)
         for  MOD in $MODULES ; do
             eval MOD=\${MODPATH_$MOD}
@@ -103,7 +103,7 @@ CheckConfig(){
 
 CheckStatus(){
     case $RTPREFIX in
-    sim)
+    uspace)
         if [ -z "$($PIDOF rtapi_app)" ]; then
             exit 1
         else
@@ -152,7 +152,7 @@ CheckMem(){
 Load(){
     CheckKernel
     case $RTPREFIX in
-    sim)
+    uspace)
     ;;
     *)
         for MOD in $MODULES_LOAD ; do
@@ -181,7 +181,7 @@ CheckLoaded(){
 Unload(){
     CheckKernel
     case $RTPREFIX in
-    sim)
+    uspace)
         rtapi_app exit 
         ipcrm -M 0x48414c32 2>/dev/null ;# HAL_KEY
         ipcrm -M 0x90280A48 2>/dev/null ;# RTAPI_KEY

src/Makefile

@@ -85,7 +85,7 @@ ifeq ($(KERNELRELEASE),)
 # The "modules" target is the gateway to the kernel module build.
 default: configs userspace modules
 ifeq ($(RUN_IN_PLACE),yes)
-ifneq ($(BUILD_SYS),sim)
+ifneq ($(BUILD_SYS),uspace)
 	@if [ -f ../bin/linuxcnc_module_helper ]; then if ! [ `stat -c %u ../bin/linuxcnc_module_helper` -eq 0 -a -u ../bin/linuxcnc_module_helper ]; then $(VECHO) "You now need to run 'sudo make setuid' in order to run in place."; fi; fi
 endif
 endif
@@ -463,7 +463,7 @@ clean: depclean modclean
 # So that nothing is built as root, this rule does not depend on the touched
 # files (Note that files in depends/ might be rebuilt, and there's little that
 # can be done about it)
-ifeq ($(BUILD_SYS),sim)
+ifeq ($(BUILD_SYS),uspace)
 setuid:
 	@echo "'make setuid' is not needed for the simulator"
 else
@@ -667,7 +667,7 @@ install-kernel-dep:
 		$(DESTDIR)$(bindir) \
 		$(DESTDIR)$(sysconfdir)/linuxcnc
 	$(FILE) ../rtlib/*$(MODULE_EXT) $(DESTDIR)$(EMC2_RTLIB_DIR)
-ifneq "$(BUILD_SYS)" "sim"
+ifneq "$(BUILD_SYS)" "uspace"
 	$(FILE) Module.symvers $(DESTDIR)$(EMC2_RTLIB_DIR)
 	$(SETUID) ../bin/linuxcnc_module_helper $(DESTDIR)$(bindir)
 	$(SETUID) ../bin/pci_write $(DESTDIR)$(bindir)
@@ -773,7 +773,7 @@ endif
 # find a way around it.
 
 # Subdirectory:  rtapi
-ifneq ($(BUILD_SYS),sim)
+ifneq ($(BUILD_SYS),uspace)
 obj-$(CONFIG_RTAPI) += rtapi.o
 rtapi-objs := rtapi/$(RTPREFIX)_rtapi.o
 endif
@@ -825,7 +825,7 @@ obj-$(CONFIG_SAMPLER) += sampler.o
 sampler-objs := hal/components/sampler.o $(MATHSTUB)
 
 # Subdirectory: hal/drivers
-ifneq ($(BUILD_SYS),sim)
+ifneq ($(BUILD_SYS),uspace)
 obj-$(CONFIG_HAL_PARPORT) += hal_parport.o
 hal_parport-objs := hal/drivers/hal_parport.o $(MATHSTUB)
 obj-$(CONFIG_PCI_8255) += pci_8255.o
@@ -977,7 +977,7 @@ motmod-objs += libnml/posemath/_posemath.o
 motmod-objs += libnml/posemath/sincos.o $(MATHSTUB)
 
 TORTOBJS = $(foreach file,$($(patsubst %.o,%,$(1))-objs), objects/rt$(file))
-ifeq ($(BUILD_SYS),sim)
+ifeq ($(BUILD_SYS),uspace)
 EXTRA_CFLAGS += -fPIC -Os
 RTOBJS := $(sort $(foreach mod,$(obj-m),$(call TORTOBJS,$(mod))))
 
@@ -997,7 +997,7 @@ $(sort $(RTOBJS)) : objects/rt%.o : %.c
 	$(ECHO) Compiling realtime $<
 	@rm -f $@
 	@mkdir -p $(dir $@)
-	$(Q)$(CC) -c $(OPT) $(DEBUG) $(EXTRA_DEBUG) -DSIM -DSIMULATOR -DRTAPI $(EXTRA_CFLAGS) \
+	$(Q)$(CC) -c $(OPT) $(DEBUG) $(EXTRA_DEBUG) -DRTAPI $(EXTRA_CFLAGS) \
 		-MP -MD -MF "${@:.o=.d}" -MT "$@" \
 		$< -o $@
 endif
@@ -1021,8 +1021,8 @@ $(sort $(RTOBJS)) : objects/rt%.o : %.c
 	$(Q)ld -r -static -S $(LDFLAGS) -o $@ $^ $(EXTRALINK) $(MATHLIB)
 endif
 
-ifneq "$(filter normal sim,$(BUILD_SYS))" ""
+ifneq "$(filter normal uspace,$(BUILD_SYS))" ""
-ifneq "$(BUILD_SYS)" "sim"
+ifneq "$(BUILD_SYS)" "uspace"
 ../rtlib/rtapi$(MODULE_EXT): $(addprefix objects/rt,$(rtapi-objs))
 endif
 ../rtlib/classicladder_rt$(MODULE_EXT): $(addprefix objects/rt,$(classicladder_rt-objs))

src/Makefile.modinc.in

@@ -23,8 +23,8 @@
 # complex-objs := complex1.o complex2.o complex_main.o
 # include .../Makefile.modinc
 
-# Currently this Makefile is only suitable for 'kbuild' and 'sim' systems, but
+# Currently this Makefile is only suitable for 'kbuild' and 'uspace' systems,
-# there is no technical reason it cannot be extended to pre-kbuild systems.
+# but there is no technical reason it cannot be extended to pre-kbuild systems.
 
 # When there is a single module and it consists of a single source file, an
 # easier way to build modules is to invoke 'comp':
@@ -95,7 +95,7 @@ install:
 	cp $(patsubst %.o,%.ko,$(obj-m)) $(DESTDIR)$(RTLIBDIR)/
 endif
 
-ifeq ($(BUILDSYS),sim)
+ifeq ($(BUILDSYS),uspace)
 EXTRA_CFLAGS += -DSIM -fPIC
 allmodules = $(patsubst %.o,%.so,$(obj-m))
 modules: $(allmodules)
@@ -125,6 +125,6 @@ IS_POWERPC = test `uname -m` = ppc -o `uname -m` = ppc64
 endif
 
 ifeq ($(BUILDSYS),normal)
-$(error Makefile.modinc is only suitable for 'kbuild' kernels and 'sim' systems)
+$(error Makefile.modinc is only suitable for 'kbuild' kernels and 'uspace' systems)
 endif
 

src/configure.in

@@ -157,39 +157,30 @@ RTL_MOD=""
 # accept --with-realtime=<path> from commandline                             #
 ##############################################################################
 
+RTDIR=""
 AC_ARG_ENABLE(simulator,
     [  --enable-simulator      Run as a pure userspace program],
     [
         case "$enableval" in
         Y*|y*)
-                SIMULATOR=yes
+            RTS=uspace
-                RTS=simulator
+            AC_MSG_WARN([--enable-simulator is deprecated.  Use --with-realtime=uspace instead.])
-                BUILD_SYS=sim
-                MODEXT=.so
-                MODULE_DIR=${prefix}/lib/linuxcnc/modules
-                AC_MSG_RESULT([configuring for simulator])
         ;;
-            *)
-                SIMULATOR=no
         esac
-    ],
-    [
-        SIMULATOR=no
     ])
-AC_SUBST(SIMULATOR)
 
 AC_ARG_WITH(realtime,
-    [  --with-realtime=<path to realtime>     Path where RTAI or RTlinux is installed],
+    [  --with-realtime=<path to realtime>     Path where RTAI or RTlinux is installed, or "uspace" for POSIX userspace],
     [   case "$withval" in
 	"" | y | ye | yes | n | no)
-	    AC_MSG_ERROR([You must supply a path for --with-realtime.]) ;;
+	    AC_MSG_ERROR([You must supply a path or "uspace" for --with-realtime.]) ;;
 	*)
-		case "$SIMULATOR" in
+            if test ! -z "$RTS"; then
-			yes) AC_MSG_ERROR([--with-realtime and --enable-simulator are mutually exclusive]) ;;
+                AC_MSG_ERROR([--with-realtime and --enable-simulator are mutually exclusive])
-			*) RTDIR="$withval" ;;
+            fi
+            RTS="$withval" ;;
         esac
-	;;
+        ])
-        esac])
 
 ##############################################################################
 # Subsection 2.2                                                             #
@@ -205,19 +196,22 @@ AC_ARG_WITH(realtime,
 # rtai-config for RTAI 3.x                                                   #
 ##############################################################################
 
-#at this point if RTDIR is empty, we need to find RT ourselves
+#at this point if RTS is empty, we need to find RT ourselves
-if test $SIMULATOR = yes; then
+if test "$RTS" = uspace ; then
-  RTS=sim
+  AC_MSG_RESULT([Using userspace realtime]);
   AC_PATH_PROG(PTH_CONFIG,pth-config,"")
   if test "$PTH_CONFIG" = ""; then
     AC_MSG_ERROR([GNU PTH library is required: get it with apt-get install libpth-dev])
   fi
+elif test -x "$RTS" -a ! -d "$RTS"; then
+  AC_MSG_RESULT([Using $RTS as configure script for realtime])
 else
   if test -z "$RTDIR"; then
     DIRS="/usr/realtime-`uname -r` /usr/realtime /usr/realtime* /usr /usr/src/rtai*"
   else
-    DIRS="$RTDIR"
+    DIRS="$RTS"
   fi
+  RTS=""
   for location in $DIRS; do
     for subdir in . scripts bin; do
       for signature in rtai rtl realtime; do
@@ -303,13 +297,16 @@ case $RTS in
     RTFLAGS=`$RTS --cflags`
     KERNELDIR=`$RTS --linux`
 ;;
-sim)
+uspace)
     RTPREFIX=uspace
     RTDIR=$(pwd -P)
-    RTFLAGS=-DSIMULATOR
+    RTFLAGS=-DUSPACE
+    BUILD_SYS=uspace
+    MODEXT=.so
+    MODULE_DIR=${prefix}/lib/linuxcnc/modules
 esac
 
-if test $RTS != sim; then
+if test "$RTS" != uspace; then
     AC_MSG_CHECKING([for location of kernel headers])
     AC_ARG_WITH(kernel-headers,
 	[  --with-kernel-headers=<directory>       Location for kernel headers],
@@ -331,13 +328,14 @@ AC_SUBST([RTFLAGS])
 AC_SUBST([RTDIR])
 AC_SUBST([RTARCH])
 
-if test $RTPREFIX = sim; then
+case "$RTPREFIX" in
-    AC_DEFINE(RTAPI_SIM, [], [Realtime system is simulated])
+uspace)
-elif test $RTPREFIX = rtai; then
+    AC_DEFINE(RTAPI_USPACE, [], [Realtime system is userspace]) ;;
-    AC_DEFINE(RTAPI_RTAI, [], [Realtime system is RTAI])
+rtai)
-elif test $RTPREFIX = rtl; then
+    AC_DEFINE(RTAPI_RTAI, [], [Realtime system is RTAI]) ;;
-    AC_DEFINE(RTAPI_RTL, [], [Realtime system is RTL])
+rtl)
-fi
+    AC_DEFINE(RTAPI_RTL, [], [Realtime system is RTL]) ;;
+esac
 
 
 EMC2_HOME=`(cd .. ; pwd)`
@@ -509,7 +507,7 @@ install with "sudo apt-get install libusb-1.0-0-dev" or disable with
 # compiled against.                                                          #
 ##############################################################################
 
-if test $RTS '!=' sim; then
+if test $RTS '!=' uspace; then
 AC_CHECK_HEADERS([$KERNELDIR/include/linux/version.h],[],[AC_MSG_ERROR([version.h not found - Is the kernel headers package installed ?])])
 
 # Unfortunately, many distributions (redhat, mandrake) have #defines
@@ -1094,7 +1092,7 @@ AC_SUBST(BUILD_DOCS_HTML)
 # tests and linking to mathstubs.o at a later stage.                         #
 ##############################################################################
 
-if test "$SIMULATOR" != "yes"
+if test $RTS '!=' uspace
 then
 AC_MSG_CHECKING([for kernel math support])
 USE_LIBM=""
@@ -1769,21 +1767,16 @@ echo "#   GPL.  Check out http://www.linuxcnc.org/ for more details.       #"
 echo "#                                                                    #"
 echo "#                                                                    #"
 echo "#   It seems that ./configure completed successfully.                #"
-if test $SIMULATOR = yes; then
-echo "#   However, the configuration is for a simulator only, no RT        #"
-echo "#   capabilities will be used. In this mode no control of hardware   #"
-echo "#   is possible. Drivers won't be built.                             #"
-else
 echo "#   This means that RT is properly installed                         #"
-fi
 echo "#   If things don't work check config.log for errors & warnings      #"
 echo "#                                                                    #"
 
 if test "xyes" = "x$RUN_IN_PLACE"; then
 echo "#   Next compile by typing                                           #"
 echo "#         make                                                       #"
-if test $SIMULATOR != yes; then
 echo "#         sudo make setuid                                           #"
+if test $RTS = uspace; then
+echo "#          (if realtime behavior and hardware access are required)   #"
 fi
 echo "#                                                                    #"
 echo "#   Before running the software, set the environment:                #"

src/hal/drivers/Submakefile

@@ -33,7 +33,7 @@ pluto_clean:
 
 # The kernel's build system won't know how to rebuild generated files
 # so modules must depend on them explicitly
-ifneq ($(BUILD_SYS),sim)
+ifneq ($(BUILD_SYS),uspace)
 modules:                                                         \
     hal/drivers/pluto_servo_rbf.h                                \
     hal/drivers/pluto_step_rbf.h

src/hal/halmodule.cc

@@ -1148,7 +1148,7 @@ void init_hal(void) {
     PyModule_AddIntConstant(m, "HAL_OUT", HAL_OUT);
     PyModule_AddIntConstant(m, "HAL_IO", HAL_IO);
 
-#ifdef RTAPI_SIM
+#ifdef RTAPI_USPACE
     PyModule_AddIntConstant(m, "is_sim", 1);
     PyModule_AddIntConstant(m, "is_rt", 0);
 #else

src/hal/simdrivers/Submakefile

@@ -1,5 +1,5 @@
 
-ifeq ($(BUILD_SYS),sim)
+ifeq ($(BUILD_SYS),uspace)
 UPARPORT_SRCS := $(addprefix hal/simdrivers/, \
 	uparport.c)
 

src/hal/utils/Submakefile

@@ -67,7 +67,7 @@ $(call TOOBJSDEPS, $(HALGTKSRCS)) : EXTRAFLAGS = $(GTK_CFLAGS)
 $(call TOOBJS, $(HALGTKSRCS)): Makefile.inc
 endif
 
-ifneq ($(BUILD_SYS),sim)
+ifneq ($(BUILD_SYS),uspace)
 PCIWRITESRCS := hal/utils/pci_write.c hal/utils/upci.c
 USERSRCS += $(PCIWRITESRCS)
 ../bin/pci_write: $(call TOOBJS, $(PCIWRITESRCS))

src/hal/utils/halcmd_commands.c

@@ -518,7 +518,7 @@ int do_newinst_cmd(char *comp_name, char *inst_name) {
         return -EINVAL;
     }	
 
-#if defined(RTAPI_SIM)
+#if defined(RTAPI_USPACE)
     {
         char *argv[MAX_TOK];
         int m = 0, result;
@@ -1062,7 +1062,7 @@ int do_loadrt_cmd(char *mod_name, char *args[])
     hal_comp_t *comp;
     char *argv[MAX_TOK+3];
     char *cp1;
-#if defined(RTAPI_SIM)
+#if defined(RTAPI_USPACE)
     argv[m++] = "-Wn";
     argv[m++] = mod_name;
     argv[m++] = EMC2_BIN_DIR "/rtapi_app";
@@ -1126,7 +1126,7 @@ int do_loadrt_cmd(char *mod_name, char *args[])
 
     if ( retval != 0 ) {
 	halcmd_error("insmod failed, returned %d\n"
-#if !defined(RTAPI_SIM)
+#if !defined(RTAPI_USPACE)
             "See the output of 'dmesg' for more information.\n"
 #endif
         , retval );
@@ -1321,7 +1321,7 @@ static int unloadrt_comp(char *mod_name)
     int retval;
     char *argv[4];
 
-#if defined(RTAPI_SIM)
+#if defined(RTAPI_USPACE)
     argv[0] = EMC2_BIN_DIR "/rtapi_app";
     argv[1] = "unload";
 #else

src/hal/utils/halrmt.c

@@ -1131,7 +1131,7 @@ static int doLoadRt(char *mod_name, char *args[], connectionRecType *context)
     char *cp1;
     const char *nakStr = "SET LOADRT NAK";
 
-#if defined(RTAPI_SIM)
+#if defined(RTAPI_USPACE)
 #if 0
     argv[m++] = "-Wn";
     argv[m++] = mod_name;

src/rtapi/Submakefile

@@ -5,7 +5,7 @@ INCLUDES += rtapi
 ../include/%.hh: ./rtapi/%.hh
 	cp $^ $@
 
-ifeq ($(BUILD_SYS),sim)
+ifeq ($(BUILD_SYS),uspace)
 
 RTAPI_APP_SRCS := \
 	rtapi/uspace_rtapi_app.cc \

src/rtapi/uspace_rtapi.c

@@ -58,7 +58,7 @@ static pth_uctx_t main_ctx, this_ctx;
 /* data for all tasks */
 static struct rtapi_task task_array[MAX_TASKS] = {{0},};
 
-/* Priority functions.  SIM uses 0 as the highest priority, as the
+/* Priority functions.  USPACE uses 0 as the highest priority, as the
 number increases, the actual priority of the task decreases. */
 
 int rtapi_prio_highest(void)

tests/hm2-idrom/skip

@@ -1,7 +1,7 @@
 #!/bin/sh
 . rtapi.conf
 
-if [ "$RTPREFIX" = sim ]; then
+if [ "$RTPREFIX" = uspace ]; then
     exit 1
 fi