Rootless uspace preempt-rt (rebase of #918, fixes for #3928)#3964

Draft

grandixximo wants to merge 45 commits intoLinuxCNC:masterfrom

grandixximo:nosetuid

Commits on Apr 29, 2026

Reapply "Rtapi cleanup"
hdiethelm
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Cleanup: Library doesn't need a hardcoded path
hdiethelm
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Cleanup: Get rid of global task_array and add static where possible
hdiethelm
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Cleanup: Get rid of globals ruid/euid
hdiethelm
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Cleanup: Rename libs
hdiethelm
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Cleanup: Get rid of globals find_rt_cpu_number / set_namef
hdiethelm
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Cleanup: Review: const std::string &
hdiethelm
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Cleanup: Correct sizeof()
hdiethelm
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Cleanup: Correct _exit
hdiethelm
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Cleanup: Review: get_fifo_path nicer
hdiethelm
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Cleanup: Review: Fix timeout
hdiethelm
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Cleanup: Improve get_fifo_path_to_addr
hdiethelm
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Cleanup: Rewrite socket protocol
hdiethelm
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Cleanup: Run clang-format
hdiethelm
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Cleanup: Signal handler: Use only allowed functions
hdiethelm
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Cleanup: Signal handler: Fix coredump
hdiethelm
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Cleanup: Review: Doc protocol / const
hdiethelm
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Cleanup: recv_args: No need for push_back: more efficient
hdiethelm
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Cleanup: signal_handler: Replace define by function
hdiethelm
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Cleanup: remove run_threads
hdiethelm
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Cleanup: socket protocol: fully checked send/recv
hdiethelm
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Cleanup: socket protocol: improve error messages
hdiethelm
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Cleanup: socket protocol: fix send_args
hdiethelm
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Cleanup: socket protocol: Set recive timeout in master
hdiethelm
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Cleanup: socket protocol: args to big is not a bug
hdiethelm
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Cleanup: socket protocol: bounds checking
hdiethelm
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Cleanup: Remove unused code
hdiethelm
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Cleanup: Naming and remove out of place struct keyword
hdiethelm
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Cleanup: Use const and proper indexing in do_comp_args
hdiethelm
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Fix rtapi_app: Sanitize name for module
hdiethelm
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Makefile: add setcap target for rootless uspace builds
grandixximo
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hm2_eth: skip iptables setup when unprivileged
grandixximo
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rtapi: make rtapi_is_realtime() a SCHED_FIFO success probe
grandixximo
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udev: rules for rootless Mesa HostMot2 PCI and /dev/cpu_dma_latency
grandixximo
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rtapi: always attempt mlockall, do not gate on rlim_max
grandixximo
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Use TEMP_FAILURE_RETRY() to handle EINTR properly

dwrobel
authored and
grandixximo
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rtapi: make harden_rt() rootless-safe
grandixximo
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rtapi: warn on stock kernel, gate Xenomai/RTAI on setuid
grandixximo
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hm2_eth: Fully cleanup iptables

Hannes Diethelm
authored and
grandixximo
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rtapi: raise CAP_NET_ADMIN into ambient set, diagnose realtime fallback
grandixximo
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hm2_eth: install iptables and ip6tables rules directly
grandixximo
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debian: add libcap-dev build dep
grandixximo
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rootless: incr_mem_usage()

dwrobel
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grandixximo
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rootless: incr_io_usage()

dwrobel
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grandixximo
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Remove direct usage of inb(), outb()

dwrobel
authored and
grandixximo
committed