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

src/Makefile

@@ -279,37 +279,25 @@ $(sort $(CUSEROBJS)) : objects/%.o: %.c
 		-MP -MD -MF "${@:.o=.d}" -MT "$@" \
 		$< -o $@
 
-# Ruckig files need C++20
-RUCKIG_CXX_FILES := $(filter emc/tp/ruckig%,$(CXXUSERSRCS))
-NON_RUCKIG_CXX_FILES := $(filter-out emc/tp/ruckig%,$(CXXUSERSRCS))
-
-$(sort $(patsubst %.cpp,objects/%.o,$(filter %.cpp,$(RUCKIG_CXX_FILES)))) : objects/%.o: %.cpp
+# Cruckig (pure C) source files — compiled as C, no C++ needed
+# Headers are local ("" includes relative to cruckig/), no -I needed
+objects/emc/tp/cruckig/%.o : emc/tp/cruckig/%.c
 	$(ECHO) Compiling $<
 	@mkdir -p $(dir $@)
 	@rm -f $@
-	$(Q)$(CXX) -c $(CXXFLAGS) $(EXTRAFLAGS) -std=c++20 \
-		-I$(BASEPWD)/emc/tp/ruckig/include \
-		-MP -MD -MF "${@:.o=.d}" -MT "$@" \
-		$< -o $@
-
-$(sort $(patsubst %.cc,objects/%.o,$(filter %.cc,$(RUCKIG_CXX_FILES)))) : objects/%.o: %.cc
-	$(ECHO) Compiling $<
-	@mkdir -p $(dir $@)
-	@rm -f $@
-	$(Q)$(CXX) -c $(CXXFLAGS) $(EXTRAFLAGS) -std=c++20 \
-		-I$(BASEPWD)/emc/tp/ruckig/include \
+	$(Q)$(CC) -c $(CFLAGS) $(EXTRAFLAGS) \
 		-MP -MD -MF "${@:.o=.d}" -MT "$@" \
 		$< -o $@
 
-$(sort $(patsubst %.cpp,objects/%.o,$(filter %.cpp,$(NON_RUCKIG_CXX_FILES)))) : objects/%.o: %.cpp
+$(sort $(patsubst %.cpp,objects/%.o,$(filter %.cpp,$(CXXUSERSRCS)))) : objects/%.o: %.cpp
 	$(ECHO) Compiling $<
 	@mkdir -p $(dir $@)
 	@rm -f $@
 	$(Q)$(CXX) -c $(CXXFLAGS) $(EXTRAFLAGS) \
 		-MP -MD -MF "${@:.o=.d}" -MT "$@" \
 		$< -o $@
 
-$(sort $(patsubst %.cc,objects/%.o,$(filter %.cc,$(NON_RUCKIG_CXX_FILES)))) : objects/%.o: %.cc
+$(sort $(patsubst %.cc,objects/%.o,$(filter %.cc,$(CXXUSERSRCS)))) : objects/%.o: %.cc
 	$(ECHO) Compiling $<
 	@mkdir -p $(dir $@)
 	@rm -f $@
@@ -1198,17 +1186,25 @@ motmod-objs += emc/motion/stashf.o
 motmod-objs += emc/motion/dbuf.o
 motmod-objs += emc/tp/sp_scurve.o
 motmod-objs += emc/tp/ruckig_wrapper.o
-motmod-objs += emc/tp/ruckig/src/ruckig/brake.o
-motmod-objs += emc/tp/ruckig/src/ruckig/position_first_step1.o
-motmod-objs += emc/tp/ruckig/src/ruckig/position_first_step2.o
-motmod-objs += emc/tp/ruckig/src/ruckig/position_second_step1.o
-motmod-objs += emc/tp/ruckig/src/ruckig/position_second_step2.o
-motmod-objs += emc/tp/ruckig/src/ruckig/position_third_step1.o
-motmod-objs += emc/tp/ruckig/src/ruckig/position_third_step2.o
-motmod-objs += emc/tp/ruckig/src/ruckig/velocity_second_step1.o
-motmod-objs += emc/tp/ruckig/src/ruckig/velocity_second_step2.o
-motmod-objs += emc/tp/ruckig/src/ruckig/velocity_third_step1.o
-motmod-objs += emc/tp/ruckig/src/ruckig/velocity_third_step2.o
+motmod-objs += emc/tp/cruckig/block.o
+motmod-objs += emc/tp/cruckig/brake.o
+motmod-objs += emc/tp/cruckig/calculator.o
+motmod-objs += emc/tp/cruckig/cruckig.o
+motmod-objs += emc/tp/cruckig/input_parameter.o
+motmod-objs += emc/tp/cruckig/output_parameter.o
+motmod-objs += emc/tp/cruckig/profile.o
+motmod-objs += emc/tp/cruckig/roots.o
+motmod-objs += emc/tp/cruckig/trajectory.o
+motmod-objs += emc/tp/cruckig/position_first_step1.o
+motmod-objs += emc/tp/cruckig/position_first_step2.o
+motmod-objs += emc/tp/cruckig/position_second_step1.o
+motmod-objs += emc/tp/cruckig/position_second_step2.o
+motmod-objs += emc/tp/cruckig/position_third_step1.o
+motmod-objs += emc/tp/cruckig/position_third_step2.o
+motmod-objs += emc/tp/cruckig/velocity_second_step1.o
+motmod-objs += emc/tp/cruckig/velocity_second_step2.o
+motmod-objs += emc/tp/cruckig/velocity_third_step1.o
+motmod-objs += emc/tp/cruckig/velocity_third_step2.o
 
 obj-m += homemod.o
 homemod-objs := emc/motion/homemod.o
@@ -1225,17 +1221,25 @@ tpmod-objs += emc/nml_intf/emcpose.o
 tpmod-objs += libnml/posemath/_posemath.o
 tpmod-objs += emc/tp/sp_scurve.o
 tpmod-objs += emc/tp/ruckig_wrapper.o
-tpmod-objs += emc/tp/ruckig/src/ruckig/brake.o
-tpmod-objs += emc/tp/ruckig/src/ruckig/position_first_step1.o
-tpmod-objs += emc/tp/ruckig/src/ruckig/position_first_step2.o
-tpmod-objs += emc/tp/ruckig/src/ruckig/position_second_step1.o
-tpmod-objs += emc/tp/ruckig/src/ruckig/position_second_step2.o
-tpmod-objs += emc/tp/ruckig/src/ruckig/position_third_step1.o
-tpmod-objs += emc/tp/ruckig/src/ruckig/position_third_step2.o
-tpmod-objs += emc/tp/ruckig/src/ruckig/velocity_second_step1.o
-tpmod-objs += emc/tp/ruckig/src/ruckig/velocity_second_step2.o
-tpmod-objs += emc/tp/ruckig/src/ruckig/velocity_third_step1.o
-tpmod-objs += emc/tp/ruckig/src/ruckig/velocity_third_step2.o
+tpmod-objs += emc/tp/cruckig/block.o
+tpmod-objs += emc/tp/cruckig/brake.o
+tpmod-objs += emc/tp/cruckig/calculator.o
+tpmod-objs += emc/tp/cruckig/cruckig.o
+tpmod-objs += emc/tp/cruckig/input_parameter.o
+tpmod-objs += emc/tp/cruckig/output_parameter.o
+tpmod-objs += emc/tp/cruckig/profile.o
+tpmod-objs += emc/tp/cruckig/roots.o
+tpmod-objs += emc/tp/cruckig/trajectory.o
+tpmod-objs += emc/tp/cruckig/position_first_step1.o
+tpmod-objs += emc/tp/cruckig/position_first_step2.o
+tpmod-objs += emc/tp/cruckig/position_second_step1.o
+tpmod-objs += emc/tp/cruckig/position_second_step2.o
+tpmod-objs += emc/tp/cruckig/position_third_step1.o
+tpmod-objs += emc/tp/cruckig/position_third_step2.o
+tpmod-objs += emc/tp/cruckig/velocity_second_step1.o
+tpmod-objs += emc/tp/cruckig/velocity_second_step2.o
+tpmod-objs += emc/tp/cruckig/velocity_third_step1.o
+tpmod-objs += emc/tp/cruckig/velocity_third_step2.o
 tpmod-objs += libnml/posemath/sincos.o $(MATHSTUB)
 
 TORTOBJS = $(foreach file,$($(patsubst %.o,%,$(1))-objs), objects/rt$(file))
@@ -1257,7 +1261,7 @@ modules: $(patsubst %.o,../rtlib/%.so,$(obj-m))
 RTFLAGS += -fno-strict-aliasing -fwrapv
 
 # Rules to make .o (object) files for C files
-$(sort $(filter-out objects/rtemc/tp/ruckig_wrapper.o objects/rtemc/tp/ruckig/src/ruckig/%,$(RTOBJS))) : objects/rt%.o : %.c
+$(sort $(filter-out objects/rtemc/tp/cruckig/%,$(RTOBJS))) : objects/rt%.o : %.c
 	$(ECHO) Compiling realtime $<
 	@rm -f $@
 	@mkdir -p $(dir $@)
@@ -1266,30 +1270,13 @@ $(sort $(filter-out objects/rtemc/tp/ruckig_wrapper.o objects/rtemc/tp/ruckig/sr
 		-MP -MD -MF "${@:.o=.d}" -MT "$@" \
 		$< -o $@
 
-# C++ flags for Ruckig: drop C-only -Wno-declaration-after-statement, and suppress
-# false-positive -Warray-bounds and -Wunused-parameter in Ruckig library
-RUCKIG_CXXFLAGS := $(filter-out -Wno-declaration-after-statement,$(EXTRA_CFLAGS)) \
-	-Wno-array-bounds -Wno-unused-parameter
-
-# Rules for C++ .cc files in realtime modules
-objects/rtemc/tp/ruckig_wrapper.o : emc/tp/ruckig_wrapper.cc
+# Rules for cruckig C files in realtime modules
+objects/rtemc/tp/cruckig/%.o : emc/tp/cruckig/%.c
 	$(ECHO) Compiling realtime $<
 	@rm -f $@
 	@mkdir -p $(dir $@)
-	$(Q)$(CXX) -c $(OPT) $(DEBUG) $(EXTRA_DEBUG) -DRTAPI -std=c++20 \
-		-I$(BASEPWD)/emc/tp/ruckig/include \
-		$(RUCKIG_CXXFLAGS) \
-		-MP -MD -MF "${@:.o=.d}" -MT "$@" \
-		$< -o $@
-
-# Rules for C++ .cpp files in realtime modules
-objects/rtemc/tp/ruckig/src/ruckig/%.o : emc/tp/ruckig/src/ruckig/%.cpp
-	$(ECHO) Compiling realtime $<
-	@rm -f $@
-	@mkdir -p $(dir $@)
-	$(Q)$(CXX) -c $(OPT) $(DEBUG) $(EXTRA_DEBUG) -DRTAPI -std=c++20 \
-		-I$(BASEPWD)/emc/tp/ruckig/include \
-		$(RUCKIG_CXXFLAGS) \
+	$(Q)$(CC) -c $(OPT) $(DEBUG) $(EXTRA_DEBUG) -DRTAPI \
+		$(EXTRA_CFLAGS) \
 		-MP -MD -MF "${@:.o=.d}" -MT "$@" \
 		$< -o $@
 endif

src/emc/motion-logger/Submakefile

@@ -5,23 +5,31 @@ MOTION_LOGGER_SRCS := \
 	emc/motion/axis.c \
 	emc/motion/simple_tp.c \
 	emc/tp/sp_scurve.c \
-	emc/tp/ruckig_wrapper.cc
+	emc/tp/ruckig_wrapper.c
 
-RUCKIG_SRCS := \
-	emc/tp/ruckig/src/ruckig/brake.cpp \
-	emc/tp/ruckig/src/ruckig/position_first_step1.cpp \
-	emc/tp/ruckig/src/ruckig/position_first_step2.cpp \
-	emc/tp/ruckig/src/ruckig/position_second_step1.cpp \
-	emc/tp/ruckig/src/ruckig/position_second_step2.cpp \
-	emc/tp/ruckig/src/ruckig/position_third_step1.cpp \
-	emc/tp/ruckig/src/ruckig/position_third_step2.cpp \
-	emc/tp/ruckig/src/ruckig/velocity_second_step1.cpp \
-	emc/tp/ruckig/src/ruckig/velocity_second_step2.cpp \
-	emc/tp/ruckig/src/ruckig/velocity_third_step1.cpp \
-	emc/tp/ruckig/src/ruckig/velocity_third_step2.cpp
+CRUCKIG_SRCS := \
+	emc/tp/cruckig/block.c \
+	emc/tp/cruckig/brake.c \
+	emc/tp/cruckig/calculator.c \
+	emc/tp/cruckig/cruckig.c \
+	emc/tp/cruckig/input_parameter.c \
+	emc/tp/cruckig/output_parameter.c \
+	emc/tp/cruckig/profile.c \
+	emc/tp/cruckig/roots.c \
+	emc/tp/cruckig/trajectory.c \
+	emc/tp/cruckig/position_first_step1.c \
+	emc/tp/cruckig/position_first_step2.c \
+	emc/tp/cruckig/position_second_step1.c \
+	emc/tp/cruckig/position_second_step2.c \
+	emc/tp/cruckig/position_third_step1.c \
+	emc/tp/cruckig/position_third_step2.c \
+	emc/tp/cruckig/velocity_second_step1.c \
+	emc/tp/cruckig/velocity_second_step2.c \
+	emc/tp/cruckig/velocity_third_step1.c \
+	emc/tp/cruckig/velocity_third_step2.c
 
-USERSRCS += $(MOTION_LOGGER_SRCS) $(RUCKIG_SRCS)
+USERSRCS += $(MOTION_LOGGER_SRCS) $(CRUCKIG_SRCS)
 
-../bin/motion-logger: $(call TOOBJS, $(MOTION_LOGGER_SRCS) $(RUCKIG_SRCS)) ../lib/libnml.so.0 ../lib/liblinuxcnchal.so.0
+../bin/motion-logger: $(call TOOBJS, $(MOTION_LOGGER_SRCS) $(CRUCKIG_SRCS)) ../lib/libnml.so.0 ../lib/liblinuxcnchal.so.0
 	$(ECHO) Linking $(notdir $@)
-	$(Q)$(CXX) $(LDFLAGS) -o $@ $^ -lm
+	$(Q)$(CC) $(LDFLAGS) -o $@ $^ -lm

src/emc/tp/ruckig/LICENSE → src/emc/tp/cruckig/LICENSE

@@ -1,5 +1,9 @@
 MIT License
 
+cruckig - Pure C99 port of the Ruckig trajectory generation library
+Copyright (c) 2025 Yang Yang (mika-net@outlook.com)
+
+Based on Ruckig (https://github.com/pantor/ruckig)
 Copyright (c) 2021 Lars Berscheid
 
 Permission is hereby granted, free of charge, to any person obtaining a copy

src/emc/tp/cruckig/block.c

@@ -0,0 +1,132 @@
+#include "cruckig_compat.h"
+
+#include "block.h"
+
+static inline double cruckig_profile_total_duration(const CRuckigProfile *p) {
+    return p->t_sum[6] + p->brake.duration + p->accel.duration;
+}
+
+static void remove_profile(CRuckigProfile *valid_profiles, size_t *valid_profile_counter, size_t index) {
+    for (size_t i = index; i < *valid_profile_counter - 1; ++i) {
+        valid_profiles[i] = valid_profiles[i + 1];
+    }
+    *valid_profile_counter -= 1;
+}
+
+static void interval_from_profiles(CRuckigInterval *iv, const CRuckigProfile *profile_left, const CRuckigProfile *profile_right) {
+    const double left_duration = cruckig_profile_total_duration(profile_left);
+    const double right_duration = cruckig_profile_total_duration(profile_right);
+    if (left_duration < right_duration) {
+        iv->left = left_duration;
+        iv->right = right_duration;
+        iv->profile = *profile_right;
+    } else {
+        iv->left = right_duration;
+        iv->right = left_duration;
+        iv->profile = *profile_left;
+    }
+    iv->valid = true;
+}
+
+void cruckig_block_init(CRuckigBlock *block) {
+    cruckig_profile_init(&block->p_min);
+    block->t_min = 0.0;
+    block->a.valid = false;
+    block->b.valid = false;
+}
+
+void cruckig_block_set_min_profile(CRuckigBlock *block, const CRuckigProfile *profile) {
+    block->p_min = *profile;
+    block->t_min = cruckig_profile_total_duration(profile);
+    block->a.valid = false;
+    block->b.valid = false;
+}
+
+bool cruckig_block_calculate(CRuckigBlock *block, CRuckigProfile *valid_profiles,
+                     size_t valid_profile_counter, size_t max_profiles) {
+    (void)max_profiles;
+
+    if (valid_profile_counter == 1) {
+        cruckig_block_set_min_profile(block, &valid_profiles[0]);
+        return true;
+
+    } else if (valid_profile_counter == 2) {
+        if (fabs(valid_profiles[0].t_sum[6] - valid_profiles[1].t_sum[6]) < 8 * DBL_EPSILON) {
+            cruckig_block_set_min_profile(block, &valid_profiles[0]);
+            return true;
+        }
+
+        /* numerical_robust = true */
+        {
+            const size_t idx_min = (valid_profiles[0].t_sum[6] < valid_profiles[1].t_sum[6]) ? 0 : 1;
+            const size_t idx_else_1 = (idx_min + 1) % 2;
+
+            cruckig_block_set_min_profile(block, &valid_profiles[idx_min]);
+            interval_from_profiles(&block->a, &valid_profiles[idx_min], &valid_profiles[idx_else_1]);
+            return true;
+        }
+
+    /* Only happens due to numerical issues */
+    } else if (valid_profile_counter == 4) {
+        /* Find "identical" profiles */
+        if (fabs(valid_profiles[0].t_sum[6] - valid_profiles[1].t_sum[6]) < 32 * DBL_EPSILON && valid_profiles[0].direction != valid_profiles[1].direction) {
+            remove_profile(valid_profiles, &valid_profile_counter, 1);
+        } else if (fabs(valid_profiles[2].t_sum[6] - valid_profiles[3].t_sum[6]) < 256 * DBL_EPSILON && valid_profiles[2].direction != valid_profiles[3].direction) {
+            remove_profile(valid_profiles, &valid_profile_counter, 3);
+        } else if (fabs(valid_profiles[0].t_sum[6] - valid_profiles[3].t_sum[6]) < 256 * DBL_EPSILON && valid_profiles[0].direction != valid_profiles[3].direction) {
+            remove_profile(valid_profiles, &valid_profile_counter, 3);
+        } else {
+            return false;
+        }
+
+    } else if (valid_profile_counter % 2 == 0) {
+        return false;
+    }
+
+    /* Find index of fastest profile */
+    size_t idx_min = 0;
+    for (size_t i = 1; i < valid_profile_counter; ++i) {
+        if (valid_profiles[i].t_sum[6] < valid_profiles[idx_min].t_sum[6]) {
+            idx_min = i;
+        }
+    }
+
+    cruckig_block_set_min_profile(block, &valid_profiles[idx_min]);
+
+    if (valid_profile_counter == 3) {
+        const size_t idx_else_1 = (idx_min + 1) % 3;
+        const size_t idx_else_2 = (idx_min + 2) % 3;
+
+        interval_from_profiles(&block->a, &valid_profiles[idx_else_1], &valid_profiles[idx_else_2]);
+        return true;
+
+    } else if (valid_profile_counter == 5) {
+        const size_t idx_else_1 = (idx_min + 1) % 5;
+        const size_t idx_else_2 = (idx_min + 2) % 5;
+        const size_t idx_else_3 = (idx_min + 3) % 5;
+        const size_t idx_else_4 = (idx_min + 4) % 5;
+
+        if (valid_profiles[idx_else_1].direction == valid_profiles[idx_else_2].direction) {
+            interval_from_profiles(&block->a, &valid_profiles[idx_else_1], &valid_profiles[idx_else_2]);
+            interval_from_profiles(&block->b, &valid_profiles[idx_else_3], &valid_profiles[idx_else_4]);
+        } else {
+            interval_from_profiles(&block->a, &valid_profiles[idx_else_1], &valid_profiles[idx_else_4]);
+            interval_from_profiles(&block->b, &valid_profiles[idx_else_2], &valid_profiles[idx_else_3]);
+        }
+        return true;
+    }
+
+    return false;
+}
+
+/* cruckig_block_is_blocked is now inlined in block.h */
+
+const CRuckigProfile* cruckig_block_get_profile(const CRuckigBlock *block, double t) {
+    if (block->b.valid && t >= block->b.right) {
+        return &block->b.profile;
+    }
+    if (block->a.valid && t >= block->a.right) {
+        return &block->a.profile;
+    }
+    return &block->p_min;
+}

src/emc/tp/cruckig/block.h

@@ -0,0 +1,37 @@
+#ifndef CRUCKIG_BLOCK_H
+#define CRUCKIG_BLOCK_H
+
+#include "cruckig_compat.h"
+#include "profile.h"
+#include "cruckig_config.h"
+
+typedef struct {
+    double left, right;
+    CRuckigProfile profile;
+    bool valid;
+} CRuckigInterval;
+
+typedef struct {
+    CRuckigProfile p_min;
+    double t_min;
+    CRuckigInterval a;
+    CRuckigInterval b;
+} CRuckigBlock;
+
+void cruckig_block_init(CRuckigBlock *block);
+void cruckig_block_set_min_profile(CRuckigBlock *block, const CRuckigProfile *profile);
+
+/* Calculate block from valid profiles. Returns true if successful. */
+bool cruckig_block_calculate(CRuckigBlock *block, CRuckigProfile *valid_profiles,
+                     size_t valid_profile_counter, size_t max_profiles);
+
+/* Inlined for hot-path performance (called in tight synchronization loop) */
+CRUCKIG_FORCE_INLINE bool cruckig_block_is_blocked(const CRuckigBlock *block, double t) {
+    return (t < block->t_min)
+        || (block->a.valid && block->a.left < t && t < block->a.right)
+        || (block->b.valid && block->b.left < t && t < block->b.right);
+}
+
+const CRuckigProfile* cruckig_block_get_profile(const CRuckigBlock *block, double t);
+
+#endif /* CRUCKIG_BLOCK_H */