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nixos/linuxcnc: init module
Add a LinuxCNC module for real-time control of CNC machines from NixOS. Signed-off-by: wucke13 <wucke13+github@gmail.com>
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‎doc/release-notes/rl-2611.section.md‎

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<!-- To avoid merge conflicts, consider adding your item at an arbitrary place in the list instead. -->
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- Create the first release note entry in this section!
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- A LinuxCNC module has been added. This provides a notable alternative to Debian based distros for CNC machine control.
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## Nixpkgs Library {#sec-nixpkgs-release-26.11-lib}
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‎nixos/modules/module-list.nix‎

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./programs/less.nix
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./programs/liboping.nix
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./programs/librepods.nix
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./programs/linuxcnc.nix
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./programs/lix.nix
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./programs/localsend.nix
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./programs/mdevctl.nix

‎nixos/modules/programs/linuxcnc.nix‎

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{
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config,
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lib,
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pkgs,
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...
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}:
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let
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cfg = config.programs.${moduleName};
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moduleName = "linuxcnc";
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in
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{
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meta.maintainers = with lib.maintainers; [ wucke13 ];
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options.programs.${moduleName} = {
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enable = lib.options.mkEnableOption moduleName;
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package =
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(lib.options.mkPackageOption pkgs "linuxcnc" {
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default = [ "linuxcnc" ];
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})
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// {
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apply = p: p.override { enableSetuidWrapperRedirection = true; };
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};
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};
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config = lib.mkIf cfg.enable {
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# create wrapper with setuid bit set
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security.wrappers = lib.mkIf cfg.enable (
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lib.attrsets.genAttrs' cfg.package.setuidApps (program: {
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name = "linuxcnc-${program}";
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value = {
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owner = "root";
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group = "root";
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inherit program;
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setuid = true;
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source = lib.meta.getExe' cfg.package "${program}-nosetuid";
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};
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})
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);
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# Make all LinuxCNC programs and required tools available
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environment.systemPackages = [
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cfg.package
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pkgs.iptables
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];
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};
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}

‎nixos/tests/all-tests.nix‎

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linkding = runTest ./web-apps/linkding.nix;
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linkding-postgres = runTest ./web-apps/linkding-postgres.nix;
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linkwarden = runTest ./web-apps/linkwarden.nix;
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linuxcnc = runTest ./linuxcnc.nix;
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listmonk = handleTestOn [ "x86_64-linux" "aarch64-linux" ] ./listmonk.nix { };
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litellm = runTest ./litellm.nix;
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litestream = runTest ./litestream.nix;

‎nixos/tests/linuxcnc.nix‎

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{ hostPkgs, ... }:
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{
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name = "linuxcnc";
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nodes.machine =
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{ nodes, pkgs, ... }:
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let
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user = nodes.machine.users.users.alice;
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in
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{
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imports = [
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./common/user-account.nix
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./common/x11.nix
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];
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test-support.displayManager.auto.user = user.name;
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virtualisation.memorySize = 4096;
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programs.linuxcnc.enable = true;
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environment = {
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variables.LINUXCNC_FORCE_REALTIME = "1";
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systemPackages = [ pkgs.xdotool ];
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};
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};
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enableOCR = true;
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testScript =
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{ nodes, ... }:
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let
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user = nodes.machine.users.users.alice;
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in
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''
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import shlex
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machine.wait_for_x()
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# required so that wait_for_window can access alice's X session
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machine.succeed("xauth merge ~${user.name}/.Xauthority")
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def spawn_as_user(command: str):
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command += " >&2 &"
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escaped_command = shlex.quote(command)
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machine.succeed(f"su - ${user.name} -c -- {escaped_command}")
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def window_close():
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machine.succeed("xdotool getactivewindow windowquit")
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def window_maximize():
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machine.succeed("xdotool getactivewindow windowsize --sync 100% 100%")
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screenshot_counter: int = 0
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def screenshot(name: str):
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global screenshot_counter
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machine.screenshot(f"{screenshot_counter:02d}-{name}")
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screenshot_counter += 1
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with subtest("Test latency-test"):
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spawn_as_user("latency-test")
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machine.wait_for_window("LinuxCNC / HAL Latency Test")
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machine.wait_for_text("Let this test run for a few minutes")
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machine.wait_for_text("Reset Statistics")
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screenshot("latency-test")
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window_close()
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machine.wait_until_fails("pgrep rtapi_app")
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with subtest("Test latency-histogram"):
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spawn_as_user("latency-histogram")
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machine.wait_for_window("latency-histogram")
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machine.wait_for_text("ylogscale")
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machine.wait_for_text("binsize")
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screenshot("latency-histogram")
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window_close()
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machine.wait_until_fails("pgrep rtapi_app")
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with subtest("Test latency-plot"):
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spawn_as_user("latency-plot")
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machine.wait_for_window("latency-plot")
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window_maximize()
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machine.wait_for_text("Latency \\S+ vs Time \\S+")
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machine.wait_for_text("Pts")
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screenshot("latency-plot")
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window_close()
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machine.wait_until_fails("pgrep rtapi_app")
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with subtest("Test LinuxCNC configuration selector"):
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spawn_as_user("linuxcnc")
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machine.wait_for_window("LinuxCNC Configuration Selector")
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window_maximize()
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machine.wait_for_text("Welcome to LinuxCNC.")
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screenshot("linuxcnc-configuration-selector")
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with subtest("Test copy to new AXIS config"):
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machine.send_key("ret")
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machine.wait_for_text("Would you like to copy the")
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machine.send_key("ret")
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machine.wait_for_text("The configuration file has been copied to")
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machine.send_key("ret")
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with subtest("Test AXIS GUI"):
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# The "AXIS Manual Toolchanger" window will appear briefly
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machine.wait_for_window("^axis.ngc")
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window_maximize()
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machine.wait_for_text("ESTOP")
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screenshot("linuxcnc-axis")
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# Basic test of AXIS
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machine.send_key("f1") # toggle e-stop
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machine.wait_for_text("OFF")
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machine.send_key("f2") # toggle machine power to on
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machine.wait_for_text("ON")
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machine.send_key("f4") # switch from Preview to DRO
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machine.send_key("ctrl-home") # home all axes
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machine.sleep(5) # wait until homing is at least started
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machine.wait_for_text("X:\\s+0.0000") # wait until homing is done
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machine.wait_for_text("Y:\\s+0.0000")
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machine.wait_for_text("Z:\\s+0.0000")
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machine.send_key("f5") # switch from Manual Control to MDI
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machine.send_chars("G0 X.1337 Y.42 Z-.13\n") # go to specific coordinates
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machine.wait_for_text("0.1337") # wait until machine reached desired X coordinate
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screenshot("linuxcnc-axis-moved-mdi-dro")
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machine.send_key("f4") # switch from DRO to Preview
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machine.sleep(5) # avoid the keys beeing eaten
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machine.send_key("f3") # switch from MDI to Manual Control
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machine.wait_for_text("Touch off") # wait for Manual Control to be rendered
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screenshot("linuxcnc-axis-moved-manual-control-preview")
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with subtest("Test image-to-gcode"):
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machine.copy_from_host("${hostPkgs.nixos-icons}/share/icons/hicolor/128x128/apps/nix-snowflake.png",
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"/home/${user.name}/linuxcnc/nc_files/test-image.png")
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machine.send_key("o")
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machine.wait_for_window("Open")
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machine.send_chars("test-image.png\n")
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machine.wait_for_window("Image to G-code")
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screenshot("linuxcnc-axis-image-to-gcode")
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machine.send_key("ret")
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machine.wait_for_text("M3")
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machine.wait_for_text("P3")
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screenshot("linuxcnc-axis-image-to-gcode-preview")
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with subtest("Test shutdown AXIS"):
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window_close()
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machine.wait_for_text("Do you really want to close LinuxCNC?")
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machine.send_key("tab")
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machine.send_key("ret")
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machine.wait_until_fails("pgrep rtapi_app")
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machine.shutdown()
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'';
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}

‎pkgs/by-name/li/linuxcnc/package.nix‎

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{
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lib,
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stdenv,
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nixosTests,
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fetchurl,
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fetchFromGitHub,
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passthru = {
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inherit pythonEnv;
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inherit (finalAttrs) setuidApps;
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tests.nixos-module = nixosTests.linuxcnc;
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};
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meta = {

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