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add: github action and debian build files
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‎.github/workflows/build-deb.yaml‎

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name: Build and Publish Debian Package
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on:
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push:
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jobs:
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create_release:
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if: startsWith(github.ref, 'refs/tags/')
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runs-on: ubuntu-latest
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outputs:
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upload_url: ${{ steps.create_release.outputs.upload_url }}
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steps:
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- uses: actions/checkout@v3
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- id: create_release
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uses: actions/create-release@v1
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env:
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GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
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with:
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tag_name: ${{ github.ref_name }}
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release_name: Release ${{ github.ref_name }}
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body: Automated release for tag ${{ github.ref_name }}
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draft: false
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prerelease: false
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build-deb:
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runs-on: ubuntu-latest
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env:
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DEB_BUILD_OPTIONS: "compress=gzip nocheck"
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PKGNAME: "module-sock-raw"
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strategy:
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matrix:
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distro: [debian-12, debian-11, ubuntu-24.04, ubuntu-22.04]
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include:
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- distro: debian-12
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image: debian:12
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os: debian
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version: bookworm
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- distro: debian-11
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image: debian:11
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os: debian
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version: bullseye
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- distro: ubuntu-24.04
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image: ubuntu:24.04
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os: ubuntu
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version: noble
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- distro: ubuntu-22.04
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image: ubuntu:22.04
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os: ubuntu
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version: jammy
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container:
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image: ${{ matrix.image }}
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steps:
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- name: Install build dependencies
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shell: bash
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run: |
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apt-get update
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apt-get install -y build-essential devscripts debhelper autoconf-archive autotools-dev pkg-config sed git tar gzip curl jq libyaml-cpp-dev rsync
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curl -fsSL https://deb.burger-system.de/setup.sh | bash > /dev/null
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apt-get update
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apt-get install -y robotkernel-service-helper robotkernel-dev service-provider-process-data-inspection-dev
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- name: Checkout source
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uses: actions/checkout@v4
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with:
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fetch-depth: 0
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- name: Mark working directory as safe
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run: git config --global --add safe.directory $GITHUB_WORKSPACE
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- name: update branch name and version
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run: |
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VERSION=$(dpkg-parsechangelog | sed -n 's/^Version: //p')
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sed "s|PACKAGE_VERSION|$VERSION|" configure.ac.in > configure.ac
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- name: Build .deb package
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shell: bash
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run: |
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# baue mit dpkg-buildpackage (ohne signieren)
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export DEBEMAIL="robert.burger@dlr.de"
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export DEBFULLNAME="Robert Burger"
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CODENAME=$(lsb_release -sc)
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VERSION=$(dpkg-parsechangelog --show-field Version)
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PRE_VERSION="pre${GITHUB_RUN_NUMBER}"
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# Check if version already contains codename suffix
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if [[ "$VERSION" == *"~${CODENAME}"* || "$VERSION" == *"+${CODENAME}"* ]]; then
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echo "Version already contains codename suffix, skipping dch."
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else
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if [[ ! $GITHUB_REF =~ ^refs/tags/ ]]; then
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# Not a tag, so add ~pre<x>
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FULL_VERSION="${VERSION}~${PRE_VERSION}-1~${CODENAME}-pre"
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dch -b --newversion "${FULL_VERSION}" --distribution "${CODENAME}-pre" "Pre-release for ${CODENAME}-pre"
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else
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FULL_VERSION="${VERSION}-1~${CODENAME}"
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dch --newversion "${FULL_VERSION}" --distribution "${CODENAME}" "Pre-release for ${CODENAME}"
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fi
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fi
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dpkg-buildpackage -us -uc -sa
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- name: Debug artifact files
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run: |
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ls -l ../
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- name: Set sanitized image name
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id: sanitize
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run: |
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version=$(dpkg-parsechangelog | sed -n 's/^Version: //p')
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echo "sanitized_image=$(echo "${version}" | tr '/:' '--')" >> $GITHUB_OUTPUT
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- name: Upload to APT repository
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env:
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DEPLOY_TOKEN: ${{ secrets.BS_UPLOAD_KEY }}
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shell: bash
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run: |
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DISTRO="${{ matrix.distro }}"
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SANITIZED_IMAGE="${{ steps.sanitize.outputs.sanitized_image }}"
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if [[ "$DISTRO" == "ubuntu-24.04" || "$DISTRO" == "ubuntu-22.04" ]]; then
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OLD_EXT=".ddeb"
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NEW_EXT=".deb"
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OLD_FILE="${PKGNAME}-dbgsym_${SANITIZED_IMAGE}_amd64${OLD_EXT}"
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NEW_FILE="${PKGNAME}-dbgsym_${SANITIZED_IMAGE}_amd64${NEW_EXT}"
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CHANGES_FILE="${PKGNAME}_${SANITIZED_IMAGE}_amd64.changes"
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mv "../$OLD_FILE" "../$NEW_FILE"
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sed -i "s/${OLD_FILE}/${NEW_FILE}/g" "../$CHANGES_FILE"
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fi
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DBG_FILE="../${PKGNAME}-dbgsym_${SANITIZED_IMAGE}_amd64.deb"
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DEB_FILE="../${PKGNAME}_${SANITIZED_IMAGE}_amd64.deb"
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CHANGES_FILE="../${PKGNAME}_${SANITIZED_IMAGE}_amd64.changes"
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BUILDINFO_FILE="../${PKGNAME}_${SANITIZED_IMAGE}_amd64.buildinfo"
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DSC_FILE="../${PKGNAME}_${SANITIZED_IMAGE}.dsc"
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TAR_FILE="../${PKGNAME}_${SANITIZED_IMAGE}.tar.gz"
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for f in "$DEB_FILE" "$DBG_FILE" "$CHANGES_FILE" "$BUILDINFO_FILE" "$DSC_FILE" "$TAR_FILE"; do
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[[ -f "$f" ]] || { echo "Missing file: $f"; exit 1; }
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done
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curl -X POST https://deb.burger-system.de/upload \
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-H "Authorization: Bearer $DEPLOY_TOKEN" \
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-F "deb=@$DEB_FILE" \
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-F "dbgsym=@$DBG_FILE" \
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-F "changes=@$CHANGES_FILE" \
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-F "buildinfo=@$BUILDINFO_FILE" \
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-F "dsc=@$DSC_FILE" \
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-F "source=@$TAR_FILE"
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- name: Collect .deb artifact
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run: |
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mkdir -p artifacts/
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rsync -av --exclude=${PKGNAME} ../ artifacts/
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- name: Upload .deb package artifact
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uses: actions/upload-artifact@v4
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with:
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name: ${{ env.PKGNAME }}-artifacts-${{ steps.sanitize.outputs.sanitized_image }}
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path: artifacts/
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# Fetch the release upload URL dynamically on tag builds
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- name: Upload all artifacts to Release
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if: startsWith(github.ref, 'refs/tags/')
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env:
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GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
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GITHUB_REF_NAME: ${{ github.ref_name }}
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run: |
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release_json=$(curl -sSL \
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-H "Authorization: token $GITHUB_TOKEN" \
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-H "Accept: application/vnd.github.v3+json" \
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"https://api.github.com/repos/${{ github.repository }}/releases/tags/${GITHUB_REF_NAME}")
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upload_url=$(echo "$release_json" | jq -r '.upload_url' | sed -e "s/{?name,label}//")
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echo "Release upload URL: $upload_url"
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if [ -d "./artifacts" ]; then
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for file in ./artifacts/*; do
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filename=$(basename "$file")
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echo "Uploading $file as $filename"
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curl --fail -X POST \
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-H "Authorization: token $GITHUB_TOKEN" \
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-H "Content-Type: application/octet-stream" \
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--data-binary @"$file" \
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"$upload_url?name=$filename"
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done
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else
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echo "Artifacts directory not found, skipping upload."
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fi

‎debian/README‎

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The Debian Package robotkernel-module-sock-raw
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----------------------------
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Comments regarding the Package
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-- Robert Burger <robert.burger@dlr.de> Thu, 01 Apr 2021 13:35:27 +0200

‎debian/README.Debian‎

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robotkernel-module-sock-raw for Debian
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----------------------------------------
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<possible notes regarding this package - if none, delete this file>
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-- Robert Burger <robert.burger@dlr.de> Thu, 01 Apr 2021 13:35:27 +0200

‎debian/README.source‎

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robotkernel-module-sock-raw for Debian
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----------------------------------------
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<this file describes information about the source package, see Debian policy
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manual section 4.14. You WILL either need to modify or delete this file>
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-- Robert Burger <robert.burger@dlr.de> Thu, 01 Apr 2021 13:35:27 +0200
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‎debian/changelog‎

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module-sock-raw (6.0.0) unstable; urgency=low
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* fix: build against robotkernel 6
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-- Robert Burger <robert.burger@dlr.de> Mon, 26 Jan 2026 10:33:35 +0100
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module-sock-raw () unstable; urgency=low
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* fix: build against robotkernel 6
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* fix: remove osal include
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* add: initial import
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-- Robert Burger <robert.burger@dlr.de> Mon, 26 Jan 2026 10:33:35 +0100
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‎debian/control‎

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Source: module-sock-raw
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Section: embedded
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Priority: optional
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Maintainer: Robert Burger <robert.burger@dlr.de>
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Build-Depends: debhelper-compat (= 13), robotkernel-dev (>=6), service-provider-process-data-inspection-dev (>=6)
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Standards-Version: 4.5.1
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Homepage: https://www.burger-system.de/robotkernel/module_sock_raw
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Vcs-Browser: https://github.com/robotkernel-hal/module_sock_raw.git
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Vcs-Git: https://github.com/robotkernel-hal/module_sock_raw.git
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Rules-Requires-Root: no
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Package: module-sock-raw
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Architecture: any
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Multi-Arch: same
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Depends: robotkernel ${misc:Depends}
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Description: Robotkernel module to generate deterministic triggers for other modules.
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It supports three different modes.
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nanosleep: In this mode the **module_sock_raw** main thread just does a nanosleep until the period time has been elapsed. If the nanosleep call was interrupted by some signal it will sleep until the calculated period end time has been reached. This mode is easy and efficient as well. The **module_sock_raw*** thread should run at a very high priority to ensure, that it will be waken up when it's necessary.
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sock_raw: This mode creates a timer with timer_create. It configures the timer and connects it to the given signal number from the configuration string.
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busywait: In busywait the timer threads does active wait on the cpu and consumes all cpu time. This can cause higher power consumption and higher temperature (But on a PREEMPT-RT system that should not matter).

‎debian/copyright‎

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Format: https://www.debian.org/doc/packaging-manuals/copyright-format/1.0/
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Upstream-Name: robotkernel-module-sock-raw
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Upstream-Contact: <preferred name and address to reach the upstream project>
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Source: <url://example.com>
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Files: *
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Copyright: <years> <put author's name and email here>
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<years> <likewise for another author>
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License: GPL-3.0+
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Files: debian/*
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Copyright: 2021 Robert Burger <robert.burger@dlr.de>
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License: GPL-3.0+
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License: GPL-3.0+
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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.
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This package is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <https://www.gnu.org/licenses/>.
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.
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On Debian systems, the complete text of the GNU General
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Public License version 3 can be found in "/usr/share/common-licenses/GPL-3".
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# Please also look if there are files or directories which have a
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# different copyright/license attached and list them here.
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# Please avoid picking licenses with terms that are more restrictive than the
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# packaged work, as it may make Debian's contributions unacceptable upstream.
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#
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# If you need, there are some extra license texts available in two places:
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# /usr/share/debhelper/dh_make/licenses/
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# /usr/share/common-licenses/

‎debian/module-posix-timer-docs.docs‎

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README.Debian
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README.source
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README

‎debian/rules‎

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#!/usr/bin/make -f
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# See debhelper(7) (uncomment to enable)
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# output every command that modifies files on the build system.
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# export DH_VERBOSE = 1
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# see FEATURE AREAS in dpkg-buildflags(1)
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#export DEB_BUILD_MAINT_OPTIONS = hardening=+all
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# see ENVIRONMENT in dpkg-buildflags(1)
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# package maintainers to append CFLAGS
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#export DEB_CFLAGS_MAINT_APPEND = -Wall -pedantic
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# package maintainers to append LDFLAGS
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#export DEB_LDFLAGS_MAINT_APPEND = -Wl,--as-needed
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%:
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dh $@
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override_dh_builddeb:
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dh_builddeb -- -Zgzip
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# dh_make generated override targets
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# This is example for Cmake (See https://bugs.debian.org/641051 )
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#override_dh_auto_configure:
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# dh_auto_configure -- \
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# -DCMAKE_LIBRARY_PATH=$(DEB_HOST_MULTIARCH)

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