Add linuxcnc with lcec and cia402 in path

modules/linuxcnc.nix

@@ -6,7 +6,7 @@ in {
   options.local.packages.linuxcnc.enable = lib.mkEnableOption "Enable linuxcnc";
 
   config = lib.mkIf cfg.enable {
-    environment.systemPackages = with pkgs; [ linuxcnc linuxcnc-ethercat hal-cia402 ];
+    environment.systemPackages = with pkgs; [ linuxcnc ];
 
     security.wrappers = listToAttrs (map (f: {
       name = f;

packages/linuxcnc-with-ethercat/default.nix

@@ -0,0 +1,122 @@
+{ lib, stdenv, autoreconfHook, wrapGAppsHook, qt5, makeWrapper, fetchFromGitHub, libtool, pkgconfig,
+  readline_5, ncurses, libtirpc, systemd, libmodbus, libusb, glib, gtk2, gtk3, procps, kmod, sysctl,
+  util-linux, psmisc, intltool, tcl, tk, bwidget, tkimg, tclx, tkblt, pango, cairo, boost, espeak, gst_all_1,
+  python3Full, yapps, gobject-introspection, libGLU, xorg, libepoxy, hicolor-icon-theme, glxinfo, bash,
+  hal-cia402, linuxcnc-ethercat
+}:
+let
+  pythonPkg = (python3Full.withPackages (ps: [
+    yapps
+    ps.pyopengl
+    ps.pygobject3
+    ps.pycairo
+    ps.boost
+    ps.numpy
+    ps.pyqtwebengine
+    ps.pyqt5
+    ps.opencv4
+    ps.gst-python
+    ps.xlib
+    ps.qscintilla
+  ]));
+  boost_python = (boost.override { enablePython = true; python = pythonPkg; });
+in
+stdenv.mkDerivation rec {
+  hardeningDisable = [ "all" ];
+  enableParallelBuilding = true;
+  pname = "linuxcnc";
+  version = "2.9-git";
+  name = "${pname}-${version}";
+
+  src = fetchFromGitHub {
+    owner = "LinuxCNC";
+    repo = "linuxcnc";
+    rev = "f77537cd4d4dc6191d4bb981e0e1c9d897039fc6";
+    sha256 = "05kuTx2J7wdrcoUQ8Tengb0ohXAeGjZV9g9XriWgQL4=";
+  };
+
+  nativeBuildInputs = [
+    autoreconfHook
+    makeWrapper
+    wrapGAppsHook
+    qt5.wrapQtAppsHook
+    gobject-introspection
+  ];
+
+  dontWrapGApps = true;
+  dontWrapQtApps = true;
+
+  buildInputs = [
+    libtool pkgconfig libtirpc systemd libmodbus libusb glib gtk2 gtk3 procps kmod sysctl util-linux
+    psmisc intltool tcl tk bwidget tkimg tclx tkblt pango cairo pythonPkg.pkgs.pygobject3 gobject-introspection
+    boost_python pythonPkg.pkgs.boost pythonPkg qt5.qtbase espeak gst_all_1.gstreamer
+    ncurses readline_5 libGLU xorg.libXmu libepoxy hicolor-icon-theme glxinfo
+    hal-cia402 linuxcnc-ethercat
+  ];
+
+  preAutoreconf = ''
+    # cd into ./src here instead of setting sourceRoot as the build process uses the original sourceRoot
+    cd ./src
+
+    # make halcmd search for setuid apps on PATH, to find setuid wrappers
+    substituteInPlace hal/utils/halcmd_commands.c --replace 'EMC2_BIN_DIR "/' '"'
+  '';
+
+  patches = [
+    ./fix_make.patch          # Some lines don't respect --prefix
+    ./pncconf_paths.patch     # Corrects a search path in pncconf
+    ./rtapi_app_setuid.patch  # Remove hard coded checks for setuid from rtapi_app
+  ];
+
+  postAutoreconf = ''
+    # We need -lncurses for -lreadline, but the configure script discards the env set by NixOS before checking for -lreadline
+    substituteInPlace configure --replace '-lreadline' '-lreadline -lncurses'
+
+    substituteInPlace emc/usr_intf/pncconf/private_data.py --replace '/usr/share/themes' '${gtk3}/share/themes'
+    substituteInPlace emc/usr_intf/pncconf/private_data.py --replace 'self.FIRMDIR = "/lib/firmware/hm2/"' 'self.FIRMDIR = os.environ.get("HM2_FIRMWARE_DIR", "${placeholder "out"}/firmware/hm2")'
+
+    substituteInPlace hal/drivers/mesa-hostmot2/hm2_eth.c --replace '/sbin/iptables' '/run/current-system/sw/bin/iptables'
+    substituteInPlace hal/drivers/mesa-hostmot2/hm2_eth.c --replace '/sbin/sysctl' '${sysctl}/bin/sysctl'
+    substituteInPlace hal/drivers/mesa-hostmot2/hm2_rpspi.c --replace '/sbin/modprobe' '${kmod}/bin/modprobe'
+    substituteInPlace hal/drivers/mesa-hostmot2/hm2_rpspi.c --replace '/sbin/rmmod' '${kmod}/bin/rmmod'
+    substituteInPlace module_helper/module_helper.c --replace '/sbin/insmod' '${kmod}/bin/insmod'
+    substituteInPlace module_helper/module_helper.c --replace '/sbin/rmmod' '${kmod}/bin/rmmod'
+  '';
+
+  configureFlags = [
+    "--with-tclConfig=${tcl}/lib/tclConfig.sh"
+    "--with-tkConfig=${tk}/lib/tkConfig.sh"
+    "--with-boost-libdir=${boost_python}/lib"
+    "--with-boost-python=boost_python3"
+    "--with-locale-dir=$(out)/locale"
+    "--exec-prefix=${placeholder "out"}"
+  ];
+
+  preInstall = ''
+    # Stop the Makefile attempting to set ownship+perms, it fails on NixOS
+    sed -i -e 's/chown.*//' -e 's/-o root//g' -e 's/-m [0-9]\+//g' Makefile
+  '';
+
+  installFlags = [ "SITEPY=${placeholder "out"}/${pythonPkg.sitePackages}" ];
+
+  postInstall = ''
+    mkdir -p "$out/firmware/hm2"
+  '';
+
+  # Binaries listed here are renamed to ${filename}-nosetuid, to be targetted by setuid wrappers
+  setuidApps = [ "rtapi_app" "linuxcnc_module_helper" "pci_write" "pci_read" ];
+
+  preFixup = ''
+    for prog in $(find $out/bin -type f ! \( ${lib.concatMapStringsSep " -o " (f: "-name " + f + " ") setuidApps} \)); do
+      wrapProgram "$prog" \
+        --prefix PATH : ${lib.makeBinPath [tk glxinfo]} \
+        --prefix TCLLIBPATH ' ' "$out/lib/tcltk/linuxcnc ${tk}/lib ${tcl}/lib ${tclx}/lib ${tkblt}/lib ${tkimg}/lib ${bwidget}/lib/bwidget${bwidget.version}" \
+        --prefix PYTHONPATH : "${pythonPkg}/${pythonPkg.sitePackages}:$out/${pythonPkg.sitePackages}" \
+        "''${gappsWrapperArgs[@]}" \
+        "''${qtWrapperArgs[@]}"
+    done
+    for prog in $(find $out/bin -type f \( ${lib.concatMapStringsSep " -o " (f: "-name " + f + " ") setuidApps} \)); do
+      mv "$prog" "$prog-nosetuid"
+    done
+  '';
+}

packages/linuxcnc-with-ethercat/fix_make.patch

@@ -0,0 +1,25 @@
+diff --git a/src/Makefile b/src/Makefile
+index 5bde17598d..856af19e08 100644
+--- a/src/Makefile
++++ b/src/Makefile
+@@ -616,9 +616,9 @@ install: install-kernel-dep install-kernel-indep
+ install-dirs:
+ 	$(DIR) $(DESTDIR)$(EMC2_RTLIB_DIR) \
+ 		$(DESTDIR)$(sysconfdir)/linuxcnc $(DESTDIR)$(bindir) $(DESTDIR)$(libdir) \
+-		$(DESTDIR)/lib/linuxcnc $(DESTDIR)$(includedir)/linuxcnc \
++		$(DESTDIR)$(prefix)/lib/linuxcnc $(DESTDIR)$(includedir)/linuxcnc \
+ 		$(DESTDIR)$(docsdir) $(DESTDIR)$(ncfilesdir) \
+-		$(DESTDIR)/etc/X11/app-defaults $(DESTDIR)$(tcldir)/bin \
++		$(DESTDIR)$(prefix)/etc/X11/app-defaults $(DESTDIR)$(tcldir)/bin \
+ 		$(DESTDIR)$(tcldir)/scripts \
+ 		$(DESTDIR)$(mandir)/man1 \
+ 		$(DESTDIR)$(mandir)/man3 \
+@@ -686,7 +686,7 @@ install-kernel-indep: install-dirs
+ 	$(FILE) $(DOCS_HELP) $(DESTDIR)$(docsdir)
+ 	$(TREE) $(NC_FILES) $(DESTDIR)$(ncfilesdir)
+ 	$(EXE) ../nc_files/M101 $(DESTDIR)$(ncfilesdir)
+-	$(FILE) ../tcl/TkLinuxCNC $(DESTDIR)/etc/X11/app-defaults
++	$(FILE) ../tcl/TkLinuxCNC $(DESTDIR)$(prefix)/etc/X11/app-defaults
+ 	$(FILE) Makefile.modinc $(DESTDIR)$(datadir)/linuxcnc
+ 	$(EXE) $(TCL) $(DESTDIR)$(tcldir)
+ 	$(FILE) ../tcl/hal.so $(DESTDIR)$(tcldir)

packages/linuxcnc-with-ethercat/pncconf_paths.patch

@@ -0,0 +1,13 @@
+diff --git a/src/emc/usr_intf/pncconf/private_data.py b/src/emc/usr_intf/pncconf/private_data.py
+index 7bb8127ea4..88e99934ca 100644
+--- a/src/emc/usr_intf/pncconf/private_data.py
++++ b/src/emc/usr_intf/pncconf/private_data.py
+@@ -74,7 +74,7 @@ class Private_Data:
+         self._METRIC = 1
+ 
+         self.DATADIR = linuxcnc.SHARE + "/linuxcnc/pncconf"
+-        self.WIZARD = os.path.join(self.DATADIR, "linuxcnc-wizard.gif")
++        self.WIZARD = linuxcnc.SHARE + "/linuxcnc/linuxcnc-wizard.gif"
+         if not os.path.isfile(self.WIZARD):
+             self.WIZARD = os.path.join("/etc/linuxcnc/linuxcnc-wizard.gif")
+         if not os.path.isfile(self.WIZARD):

packages/linuxcnc-with-ethercat/rtapi_app_setuid.patch

@@ -0,0 +1,19 @@
+diff --git a/src/rtapi/uspace_common.h b/src/rtapi/uspace_common.h
+index 8dde420142..f9ff6f0cb2 100644
+--- a/src/rtapi/uspace_common.h
++++ b/src/rtapi/uspace_common.h
+@@ -381,9 +381,11 @@ static int detect_env_override() {
+ 
+ static int detect_realtime() {
+     struct stat st;
+-    if ((stat(EMC2_BIN_DIR "/rtapi_app", &st) < 0)
+-            || st.st_uid != 0 || !(st.st_mode & S_ISUID))
+-        return 0;
++    //setuid programs are forbidden from the nix store, a wrapper outside of the store is created instead
++    //this check fails under those circumstances, disable it and hope for the best
++    /* if ((stat(EMC2_BIN_DIR "/rtapi_app", &st) < 0) */
++    /*         || st.st_uid != 0 || !(st.st_mode & S_ISUID)) */
++    /*     return 0; */
+     return detect_env_override() || detect_preempt_rt() || detect_rtai() || detect_xenomai();
+ }
+