LinuxCNC · grandixximo · Aug 24, 2026 · Aug 24, 2026 · Aug 24, 2026 · BsAtHome
diff --git a/debian/copyright b/debian/copyright
@@ -251,7 +251,6 @@ Files:
  src/hal/drivers/hal_vti.c
  src/hal/drivers/hal_vti.h
  src/hal/drivers/motenc.h
- src/hal/hal.h
  src/hal/user_comps/gs2_vfd.c
  src/hal/user_comps/hy_gt_vfd.c
  src/hal/user_comps/pi500_vfd/pi500_vfd.comp
@@ -286,6 +285,7 @@ Files:
  src/hal/utils/scope_vert.c
  src/hal/utils/upci.c
  src/hal/utils/upci.h
+ include/hal.h
 Copyright: same flock of LinuxCNC devs as above
 License: GPL-2
 
@@ -341,7 +341,7 @@ Files: src/hal/hal_lib.c
 Copyright: 2003 John Kasunich
 License: LGPL-2
 
-Files: src/emc/linuxcnc.h
+Files: include/linuxcnc.h
 Copyright: 2021 Petter Reinholdtsen
 License: LGPL-2
 

diff --git a/docs/src/code/code-notes.adoc b/docs/src/code/code-notes.adoc
@@ -127,7 +127,7 @@ of the HAL, and uses terms like HAL pins, HAL signals, etc, without
 explaining them. For more information about the HAL, see the
 HAL Manual. Another chapter of this document will
 eventually go into the internals of the HAL itself, but in this
-chapter, we only use the HAL API as defined in src/hal/hal.h.
+chapter, we only use the HAL API as defined in include/hal.h.
 
 === Motion Controller Modules
 

diff --git a/docs/src/config/core-components.adoc b/docs/src/config/core-components.adoc
@@ -119,7 +119,7 @@ These pins, parameters, and functions are created by the realtime 'motmod' modul
   This will be delayed during spindle synch moves till the end of the move.
 * 'motion.in-position' - (bit, out) TRUE if the machine is in position.
 * 'motion.motion-enabled' - (bit, out) TRUE when in 'machine on' state.
-* 'motion.motion-type' - (s32, out) These values are from src/emc/nml_intf/motion_types.h
+* 'motion.motion-type' - (s32, out) These values are from include/motion_types.h
   - 0: Idle (no motion)
   - 1: Traverse
   - 2: Linear feed

diff --git a/docs/src/hal/tutorial.adoc b/docs/src/hal/tutorial.adoc
@@ -76,7 +76,7 @@ does things a little differently.
 To address these differences, the LinuxCNC team came up with RTAPI, which
 provides a consistent way for programs to talk to the RTOS. If you are
 a programmer who wants to work on the internals of LinuxCNC, you may want to
-study 'linuxcnc/src/rtapi/rtapi.h' to understand the API.
+study 'linuxcnc/include/rtapi.h' to understand the API.
 But if you are a normal person, all you need to
 know about RTAPI is that it (and the RTOS) needs to be loaded into the
 memory of your computer before you do anything with HAL.

diff --git a/docs/src/man/man9/motion.9.adoc b/docs/src/man/man9/motion.9.adoc
@@ -216,7 +216,7 @@ Note: feed-inhibit applies to G-code commands -- not jogs.
 *motion.motion-enabled* OUT BIT::
   +
 *motion.motion-type* OUT S32::
-  These values are from src/emc/nml_intf/motion_types.h:
+  These values are from include/motion_types.h:
 
   0: Idle (no motion)
 

diff --git a/include/.gitignore b/include/.gitignore
diff --git a/src/emc/nml_intf/emcmotcfg.h → include/emcmotcfg.h b/src/emc/nml_intf/emcmotcfg.h → include/emcmotcfg.h
diff --git a/src/emc/nml_intf/emcpos.h → include/emcpos.h b/src/emc/nml_intf/emcpos.h → include/emcpos.h
diff --git a/src/libposemath/emcpose.h → include/emcpose.h b/src/libposemath/emcpose.h → include/emcpose.h
diff --git a/src/hal/hal.h → include/hal.h b/src/hal/hal.h → include/hal.h
diff --git a/...l/drivers/mesa-hostmot2/hostmot2-serial.h → include/hostmot2-serial.h b/...l/drivers/mesa-hostmot2/hostmot2-serial.h → include/hostmot2-serial.h
diff --git a/src/emc/ini/inifile.h → include/inifile.h b/src/emc/ini/inifile.h → include/inifile.h
diff --git a/src/emc/ini/inifile.hh → include/inifile.hh b/src/emc/ini/inifile.hh → include/inifile.hh
diff --git a/src/emc/kinematics/kinematics.h → include/kinematics.h b/src/emc/kinematics/kinematics.h → include/kinematics.h
diff --git a/src/emc/linuxcnc.h → include/linuxcnc.h b/src/emc/linuxcnc.h → include/linuxcnc.h
diff --git a/src/emc/nml_intf/motion_types.h → include/motion_types.h b/src/emc/nml_intf/motion_types.h → include/motion_types.h
diff --git a/src/libposemath/posemath.h → include/posemath.h b/src/libposemath/posemath.h → include/posemath.h
diff --git a/src/libposemath/posemath.hh → include/posemath.hh b/src/libposemath/posemath.hh → include/posemath.hh
diff --git a/src/libposemath/posemath_types.h → include/posemath_types.h b/src/libposemath/posemath_types.h → include/posemath_types.h
diff --git a/src/rtapi/rtapi.h → include/rtapi.h b/src/rtapi/rtapi.h → include/rtapi.h
diff --git a/src/rtapi/rtapi_app.h → include/rtapi_app.h b/src/rtapi/rtapi_app.h → include/rtapi_app.h
diff --git a/src/rtapi/rtapi_atomic.h → include/rtapi_atomic.h b/src/rtapi/rtapi_atomic.h → include/rtapi_atomic.h
diff --git a/src/rtapi/rtapi_bitops.h → include/rtapi_bitops.h b/src/rtapi/rtapi_bitops.h → include/rtapi_bitops.h
diff --git a/src/rtapi/rtapi_bool.h → include/rtapi_bool.h b/src/rtapi/rtapi_bool.h → include/rtapi_bool.h
diff --git a/src/rtapi/rtapi_byteorder.h → include/rtapi_byteorder.h b/src/rtapi/rtapi_byteorder.h → include/rtapi_byteorder.h
diff --git a/src/rtapi/rtapi_ctype.h → include/rtapi_ctype.h b/src/rtapi/rtapi_ctype.h → include/rtapi_ctype.h
diff --git a/src/rtapi/rtapi_device.h → include/rtapi_device.h b/src/rtapi/rtapi_device.h → include/rtapi_device.h
diff --git a/src/rtapi/rtapi_errno.h → include/rtapi_errno.h b/src/rtapi/rtapi_errno.h → include/rtapi_errno.h
diff --git a/src/rtapi/rtapi_firmware.h → include/rtapi_firmware.h b/src/rtapi/rtapi_firmware.h → include/rtapi_firmware.h
diff --git a/src/rtapi/rtapi_gfp.h → include/rtapi_gfp.h b/src/rtapi/rtapi_gfp.h → include/rtapi_gfp.h
diff --git a/src/rtapi/rtapi_io.h → include/rtapi_io.h b/src/rtapi/rtapi_io.h → include/rtapi_io.h
diff --git a/src/rtapi/rtapi_limits.h → include/rtapi_limits.h b/src/rtapi/rtapi_limits.h → include/rtapi_limits.h
diff --git a/src/rtapi/rtapi_list.h → include/rtapi_list.h b/src/rtapi/rtapi_list.h → include/rtapi_list.h
diff --git a/src/rtapi/rtapi_math.h → include/rtapi_math.h b/src/rtapi/rtapi_math.h → include/rtapi_math.h
diff --git a/src/rtapi/rtapi_math64.h → include/rtapi_math64.h b/src/rtapi/rtapi_math64.h → include/rtapi_math64.h
diff --git a/src/rtapi/rtapi_math_i386.h → include/rtapi_math_i386.h b/src/rtapi/rtapi_math_i386.h → include/rtapi_math_i386.h
diff --git a/src/rtapi/rtapi_mutex.h → include/rtapi_mutex.h b/src/rtapi/rtapi_mutex.h → include/rtapi_mutex.h
diff --git a/src/rtapi/rtapi_parport.h → include/rtapi_parport.h b/src/rtapi/rtapi_parport.h → include/rtapi_parport.h
diff --git a/src/rtapi/rtapi_pci.h → include/rtapi_pci.h b/src/rtapi/rtapi_pci.h → include/rtapi_pci.h
diff --git a/src/rtapi/rtapi_slab.h → include/rtapi_slab.h b/src/rtapi/rtapi_slab.h → include/rtapi_slab.h
diff --git a/src/rtapi/rtapi_stdint.h → include/rtapi_stdint.h b/src/rtapi/rtapi_stdint.h → include/rtapi_stdint.h
diff --git a/src/rtapi/rtapi_string.h → include/rtapi_string.h b/src/rtapi/rtapi_string.h → include/rtapi_string.h
diff --git a/lib/python/mtc/kinematics.py b/lib/python/mtc/kinematics.py
@@ -48,7 +48,7 @@
 }
 
 # Human-readable name for LinuxCNC's KINEMATICS_TYPE enum
-# (src/emc/kinematics/kinematics.h).
+# (include/kinematics.h).
 KINEMATICS_TYPE_NAMES = {
     1: "IDENTITY",
     2: "FORWARD_ONLY",

diff --git a/scripts/include-dep-report.py b/scripts/include-dep-report.py
@@ -3,8 +3,8 @@
 
 Resolves every #include the way the compiler does, aggregates the result to the
 directory that builds each file, finds the strongly connected components, and
-writes a markdown report.  The exported-header list is read out of SRCHEADERS in
-src/Makefile, so the report follows what the build actually installs.
+writes a markdown report.  The exported headers are the contents of the include/
+directory beside src, which is the set an out-of-tree component may use.
 
     ./scripts/include-dep-report.py [src] > report.md
 """
@@ -15,6 +15,7 @@
 from collections import defaultdict
 
 SRC = os.path.abspath(sys.argv[1] if len(sys.argv) > 1 else "src")
+INC = os.path.join(os.path.dirname(SRC), "include")
 SKIP_DIRS = {"objects", "autom4te.cache", "m4", "depends"}
 EXTS = (".c", ".cc", ".cpp", ".h", ".hh", ".hpp", ".comp", ".icomp")
 INC_RE = re.compile(r'^\s*#\s*include\s*([<"])([^>"]+)[>"]')
@@ -29,20 +30,10 @@
 SEARCH = {"user": ["", "emc"], "rt": [""], "comp": [""]}
 
 
-def read_srcheaders():
-    out, collecting = [], False
-    for line in open(os.path.join(SRC, "Makefile"), encoding="utf-8", errors="replace"):
-        if not collecting:
-            if re.match(r'^\s*SRCHEADERS\s*:?=', line):
-                collecting = True
-                line = line.split("=", 1)[1]
-            else:
-                continue
-        cont = line.rstrip("\n").endswith("\\")
-        out += [t for t in line.replace("\\", " ").split() if t.endswith((".h", ".hh"))]
-        if not cont:
-            break
-    return out
+def read_exported():
+    """The headers an out-of-tree component may use.  They are the whole content
+    of the include/ directory beside src, so the directory is the list."""
+    return sorted(fn for fn in os.listdir(INC) if fn.endswith((".h", ".hh")))
 
 
 def walk_sources():
@@ -51,6 +42,8 @@ def walk_sources():
         for fn in filenames:
             if fn.endswith(EXTS):
                 yield os.path.join(dirpath, fn)
+    for fn in read_exported():
+        yield os.path.join(INC, fn)
 
 
 def read_rt_sources():
@@ -135,8 +128,16 @@ def folded_dirs():
 FOLD = folded_dirs()
 
 
+def show(rel):
+    """A path relative to the tree root.  Everything the walk finds is relative
+    to src, except the exported headers, which sit beside it."""
+    return os.path.normpath(os.path.join("src", rel))
+
+
 def module_of(rel):
     parts = rel.split("/")
+    if parts[0] == "..":
+        return "include"
     if len(parts) == 1:
         return "src"
     if parts[0] in ("emc", "hal", "libnml", "rtapi") and len(parts) > 2:
@@ -182,7 +183,7 @@ def sccs(adj, nodes):
 
 
 def analyse():
-    exported = {os.path.basename(h): h for h in read_srcheaders()}
+    exported = {h: os.path.join("..", "include", h) for h in read_exported()}
     relfiles = {os.path.relpath(f, SRC): f for f in walk_sources()}
     by_name = defaultdict(list)
     for rel in relfiles:
@@ -302,7 +303,7 @@ def main():
       "compile it actually goes through, taken from the `-objs` lists in `src/Makefile`; "
       "`.comp` sources are scanned below their `;;` line and resolved the way "
       "halcompile does, with the component's own directory ahead of the rest. The "
-      "exported-header set is read out of `SRCHEADERS`, so it follows what the build "
+      "exported-header set is the content of the include/ directory, so it follows what the build "
       "installs rather than a list of its own. Includes that resolve outside the tree "
       "are dropped.\n\n")
 
@@ -337,8 +338,8 @@ def main():
         for (a, b), v in sorted(thin.items()):
             rel, ln, tgt, style = sorted(v)[0]
             close = '"' if style == '"' else '>'
-            w(f"| `{a}` -> `{b}` | `src/{rel}:{ln}` | "
-              f"`{style}{os.path.basename(tgt)}{close}` = `src/{tgt}` |\n")
+            w(f"| `{a}` -> `{b}` | `{show(rel)}:{ln}` | "
+              f"`{style}{os.path.basename(tgt)}{close}` = `{show(tgt)}` |\n")
         w("\n")
 
     heavy = [(k, v) for k, v in intra.items() if len(v) > 1]
@@ -363,7 +364,7 @@ def main():
     else:
         w("| file | line | include | resolved in userspace by |\n|---|---|---|---|\n")
         for rel, ln, name, via in sorted(rtbad):
-            w(f"| `src/{rel}` | {ln} | `{name}` | {via} |\n")
+            w(f"| `{show(rel)}` | {ln} | `{name}` | {via} |\n")
         w("\n")
 
     both = sorted(h for h in data["rt_reach"] & data["user_reach"]
@@ -385,19 +386,18 @@ def main():
         w(f"| `{d}` | {len(bydir[d])} | {names} |\n")
     w("\n")
 
-    w("## Exported headers with no in-tree user outside their own directory\n\n")
-    w("A header reached only from its own directory is a candidate for coming off "
-      "`SRCHEADERS`, but not automatically: a header included by its umbrella beside "
-      "it, or by code in a subdirectory that falls in the same bucket, shows up here "
-      "too.\n\n")
-    w("| header | users elsewhere |\n|---|---|\n")
+    w("## Exported headers with at most two in-tree users\n\n")
+    w("An exported header is there for code outside the tree, so a thin in-tree "
+      "user list says nothing on its own. It does say where to look: a header with "
+      "no in-tree user at all is either an interface only out-of-tree code needs, "
+      "or a leftover nobody has taken off the list.\n\n")
+    w("| header | in-tree users |\n|---|---|\n")
     for h in sorted(exported.values()):
-        own = module_of(h)
-        outside = sorted({u for u in exported_users.get(h, set()) if module_of(u) != own})
-        if len(outside) > 2:
+        users = sorted(exported_users.get(h, set()))
+        if len(users) > 2:
             continue
-        cell = ", ".join(f"`src/{u}`" for u in outside) or "none"
-        w(f"| `{h}` | {cell} |\n")
+        cell = ", ".join(f"`{show(u)}`" for u in users) or "none"
+        w(f"| `include/{os.path.basename(h)}` | {cell} |\n")
     w("\n")
 
     w("<details><summary>Full directory edge list</summary>\n\n")

diff --git a/src/Makefile b/src/Makefile
@@ -135,7 +135,7 @@ cxx-option = $(shell if $(CXX) $(CXXFLAGS) $(1) -S -o /dev/null -xc++ /dev/null
 ifeq ($(origin KERNELRELEASE),undefined)
 # When KERNELRELEASE is not defined, this is the userspace build.
 # The "modules" target is the gateway to the kernel module build.
-build-software: headers userspace modules
+build-software: userspace modules
 ifeq ($(RUN_IN_PLACE),yes)
 ifneq ($(BUILD_SYS),uspace)
 	@if [ -f ../bin/linuxcnc_module_helper ]; then if ! [ `id -u` = 0 -a -O ../bin/linuxcnc_module_helper -a -u ../bin/linuxcnc_module_helper ]; then $(VECHO) "You now need to run 'sudo make setuid' in order to run in place."; fi; fi
@@ -379,77 +379,12 @@ INFILES = \
 $(INFILES): %: %.in config.status
 	@./config.status --file=$@
 
-build-software: headers $(INFILES)
+build-software: $(INFILES)
 
-# For each file to be copied to ../include, its location in the source tree
-# is listed here.
-# Note that due to $(INCLUDE), defined above, the include files in the source
-# tree are normally the ones used or not found at all when building linuxcnc if
-# you are not aware of the differences between "" and <> includes.
-#
-# All sources should #include <> (like in #include <rtapi.h>) for these special
-# headers in the ../include directory to ensure they are used.
-# The *only* exception is those sources that use the include and reside in the
-# /same/ source directory as the include. That means that the local version
-# should have precedence over the global one.
-#
-# If you add to these headers, then you must make absolutely sure that they are
-# required for out-of-tree components and that the proper #include type is
-# used.
-#
-SRCHEADERS := \
-    hal/hal.h \
-    hal/drivers/mesa-hostmot2/hostmot2-serial.h \
-    emc/linuxcnc.h \
-    emc/kinematics/kinematics.h \
-    emc/nml_intf/emcmotcfg.h \
-    emc/ini/inifile.hh \
-    emc/ini/inifile.h \
-    emc/nml_intf/emcpos.h \
-    emc/nml_intf/motion_types.h \
-    libposemath/emcpose.h \
-    libposemath/posemath.h \
-    libposemath/posemath.hh \
-    libposemath/posemath_types.h \
-    rtapi/rtapi.h \
-    rtapi/rtapi_app.h \
-    rtapi/rtapi_atomic.h \
-    rtapi/rtapi_bitops.h \
-    rtapi/rtapi_bool.h \
-    rtapi/rtapi_byteorder.h \
-    rtapi/rtapi_ctype.h \
-    rtapi/rtapi_device.h \
-    rtapi/rtapi_errno.h \
-    rtapi/rtapi_firmware.h \
-    rtapi/rtapi_gfp.h \
-    rtapi/rtapi_io.h \
-    rtapi/rtapi_limits.h \
-    rtapi/rtapi_list.h \
-    rtapi/rtapi_math.h \
-    rtapi/rtapi_math_i386.h \
-    rtapi/rtapi_math64.h \
-    rtapi/rtapi_mutex.h \
-    rtapi/rtapi_parport.h \
-    rtapi/rtapi_pci.h \
-    rtapi/rtapi_slab.h \
-    rtapi/rtapi_stdint.h \
-    rtapi/rtapi_string.h \
-    rtapi/rtapi_vsnprintf.h
-
-# the "headers" target installs all the header files in ../include.  One rule
-# does the copying for every entry in SRCHEADERS, so a directory that exports a
-# header does not carry a recipe of its own.  Two headers sharing a basename
-# would collide here, and make says so rather than letting one cp win.
-.PHONY: headers
-HEADERS := $(patsubst %,../include/%,$(notdir $(SRCHEADERS)))
-$(foreach h,$(SRCHEADERS),$(eval ../include/$(notdir $(h)): $(h)))
-$(HEADERS):
-	$(ECHO) Exporting $(notdir $@)
-	$(Q)cp $< $@
-headers: $(HEADERS)
-
-# install header files as part of the build
-TARGETS += headers
+# ../include holds the headers an out-of-tree component may use and nothing
+# else, so the whole directory is what gets installed. They are sources kept
+# where they are used from, not copies, which is why no rule builds them.
+HEADERS := $(wildcard ../include/*.h ../include/*.hh)
 
 # Add converting of %.po files
 TARGETS += $(patsubst po/%.po, ../share/locale/%/LC_MESSAGES/linuxcnc.mo, $(wildcard po/*.po))
@@ -513,11 +448,7 @@ python: $(PYTARGETS)
 userspace: python
 inclean:
 	$(RM) $(INFILES)
-# Not just $(HEADERS): a header that has been dropped from SRCHEADERS still has
-# a copy sitting in ../include, and that copy is what an angled include finds.
-headersclean:
-	$(RM) ../include/*.h ../include/*.hh
-clean: docclean pythonclean cscopeclean headersclean
+clean: docclean pythonclean cscopeclean
 distclean: clean inclean
 
 # This is the gateway into the crazy world of "kbuild", the linux 2.6 system

diff --git a/src/Submakefile.skel b/src/Submakefile.skel
@@ -17,8 +17,7 @@ $(call TOOBJSDEPS, $(FOOSRCS)) : EXTRAFLAGS = -Dfoo
 	$(CXX) -o $@ $^ 
 userspace: ../bin/foo
 
-# See emc/rs274ngc/Submakefile for an example of creating a shared library
-# or allowing headers to be copied to ../include.
+# See emc/rs274ngc/Submakefile for an example of creating a shared library.
 
 # See rtapi/Submakefile for an example of how to make some other kind of
 # file (in this case, ../scripts/rtapi.conf)
diff --git a/src/emc/ini/inifile.cc b/src/emc/ini/inifile.cc
@@ -33,7 +33,7 @@
 
 #include "nml_intf/emc.hh"
 
-#include "inifile.hh"
+#include <inifile.hh>
 
 using namespace linuxcnc;
 

diff --git a/src/emc/nml_intf/emc.cc b/src/emc/nml_intf/emc.cc
@@ -24,7 +24,7 @@
 #include "canon.hh"
 #include "emc.hh"
 #include "emc_nml.hh"
-#include "emcpos.h"
+#include <emcpos.h>
 #include "libnml/cms/cms.hh"
 
 //

diff --git a/src/emc/nml_intf/emc.hh b/src/emc/nml_intf/emc.hh
@@ -17,7 +17,7 @@
 
 #include <emcmotcfg.h>		// EMC_JOINT_MAX, EMC_AXIS_MAX
 #include "libnml/nml/nml_type.hh"
-#include "motion_types.h"
+#include <motion_types.h>
 #include <stdint.h>
 #include "modal_state.hh"
 

diff --git a/src/hal/drivers/mesa-hostmot2/pktuart.c b/src/hal/drivers/mesa-hostmot2/pktuart.c
@@ -20,7 +20,7 @@
 #include <rtapi_string.h>
 #include <hal.h>
 #include "hostmot2.h"
-#include "hostmot2-serial.h"
+#include <hostmot2-serial.h>
 
 
 #define MAX_TX_FRAMES     (16) // Send counts are written to 16 deep FIFO, burst mode

diff --git a/src/hal/hal_lib.c b/src/hal/hal_lib.c
@@ -68,7 +68,7 @@
 #endif
 
 #include <rtapi.h>		/* RTAPI realtime OS API */
-#include "hal.h"		/* HAL public API decls */
+#include <hal.h>		/* HAL public API decls */
 #define __HAL_LIBRARY_INTERNAL_ONLY 1
 #include "hal_priv.h"		/* HAL private decls */
 

diff --git a/src/hal/hal_lib_extra.c b/src/hal/hal_lib_extra.c
@@ -15,7 +15,7 @@
 // License along with this library; if not, write to the Free Software
 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
 
-#include "hal.h"
+#include <hal.h>
 #define __HAL_LIBRARY_INTERNAL_ONLY 1
 #include "hal_priv.h"
 

diff --git a/src/hal/hal_lib_query.c b/src/hal/hal_lib_query.c
@@ -15,7 +15,7 @@
 // License along with this library; if not, write to the Free Software
 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
 
-#include "hal.h"
+#include <hal.h>
 #define __HAL_LIBRARY_INTERNAL_ONLY 1
 #include "hal_priv.h"
 

diff --git a/src/libposemath/_posemath.c b/src/libposemath/_posemath.c
@@ -27,7 +27,7 @@
 #include <stdio.h>
 #include <stdarg.h>
 #endif
-#include "posemath.h"
+#include <posemath.h>
 
 #include <rtapi_math.h>
 #include <float.h>