CI: Update to ubuntu-26.04

.github/scripts/build-headers.sh

@@ -0,0 +1,11 @@
+#!/bin/sh
+
+set -eu #Needed so CI fails when anything is wrong
+set -x
+
+#Any arguments are passed to configure
+
+cd src
+./autogen.sh
+./configure "$@" --disable-check-runtime-deps --enable-werror
+make headers

.github/workflows/ci.yml

@@ -23,7 +23,7 @@ env:
 jobs:
 
   rip-and-test:
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-26.04
     timeout-minutes: 45
     steps:
     - name: Dump GitHub context
@@ -57,7 +57,7 @@ jobs:
         .github/scripts/verify-clean-repo.sh
 
   rip-headless:
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-26.04
     timeout-minutes: 45
     steps:
     - name: Dump GitHub context
@@ -109,7 +109,7 @@ jobs:
         .github/scripts/verify-clean-repo.sh
 
   rip-rtai:
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-26.04
     timeout-minutes: 45
     steps:
     - name: Dump GitHub context
@@ -138,7 +138,7 @@ jobs:
         .github/scripts/verify-clean-repo.sh
 
   rip-and-test-clang:
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-26.04
     timeout-minutes: 45
     steps:
     - name: Dump GitHub context
@@ -172,7 +172,7 @@ jobs:
         .github/scripts/verify-clean-repo.sh
 
   cppcheck:
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-26.04
     timeout-minutes: 45
     steps:
     - name: Checkout repository
@@ -183,16 +183,19 @@ jobs:
     - name: Install dependencies
       run: |
         set -x
-        .github/scripts/use-main-ubuntu-mirror.sh
-        sudo apt-get -q update
+        .github/scripts/install-deps.sh
         sudo apt-get --yes install cppcheck
+    - name: Build headers
+      run: |
+        set -x
+        .github/scripts/build-headers.sh --with-realtime=uspace
     - name: Cppcheck
       run: |
         set -x
         scripts/cppcheck.sh
 
   shellcheck:
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-26.04
     timeout-minutes: 45
     steps:
     - name: Checkout repository
@@ -215,7 +218,7 @@ jobs:
         scripts/shellcheck.sh
 
   htmldocs:
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-26.04
     timeout-minutes: 60
     steps:
     - name: Dump GitHub context
@@ -241,15 +244,15 @@ jobs:
       run: scripts/manpage-name-check.py --enforce docs/build/man
     - name: Check for derived-id section references
       run: scripts/docs-anchor-check.py --enforce
-    - name: Verify no untracked or modified files after build
-      run: |
-        #*.po and documentation.pot are modifyed by build. Ignore them for now.
-        .github/scripts/verify-clean-repo.sh ':(exclude)docs/po/*.po' ':(exclude)docs/po/documentation.pot'
     - name: HTML checks
       run: |
         set -x
         #-w sets warn only, remove to generate a CI failure on error
         scripts/htmlcheck.sh -w
+    - name: Verify no untracked or modified files after build
+      run: |
+        #*.po and documentation.pot are modified by build. Ignore them for now.
+        .github/scripts/verify-clean-repo.sh ':(exclude)docs/po/*.po' ':(exclude)docs/po/documentation.pot'
     - name: Tar linuxcnc-doc
       run: |
         set -x
@@ -267,7 +270,7 @@ jobs:
     timeout-minutes: 75
     strategy:
       matrix:
-        runner: ["ubuntu-24.04", "ubuntu-24.04-arm"]
+        runner: ["ubuntu-26.04", "ubuntu-26.04-arm"]
         image: ["debian:bookworm", "debian:trixie", "debian:sid"]
         include:
           - allow_fail: False
@@ -357,7 +360,7 @@ jobs:
         if-no-files-found: error
 
   package-indep:
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-26.04
     timeout-minutes: 75
     strategy:
       matrix:
@@ -410,7 +413,7 @@ jobs:
         .github/scripts/build-package-indep.sh
     - name: Verify no untracked or modified files after build
       run: |
-        #*.po and documentation.pot are modifyed by build. Ignore them for now.
+        #*.po and documentation.pot are modified by build. Ignore them for now.
         .github/scripts/verify-clean-repo.sh ':(exclude)VERSION' ':(exclude)debian/changelog' ':(exclude)docs/po/*.po' ':(exclude)docs/po/documentation.pot'
     - name: Install debian packages
       run: |
@@ -447,7 +450,7 @@ jobs:
     if: (github.event_name == 'release' && github.event.action == 'published') || startsWith(github.ref, 'refs/tags/')
     permissions:
       contents: write
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-26.04
     steps:
     - name: Download artifacts
       uses: actions/download-artifact@v8

src/emc/rs274ngc/Submakefile

@@ -35,6 +35,13 @@ LIBRS274SRCS += emc/nml_intf/modal_state.cc
 USERSRCS += $(LIBRS274SRCS)
 
 $(call TOOBJSDEPS, $(LIBRS274SRCS)) : EXTRAFLAGS+=-fPIC $(BOOST_DEBUG_FLAGS)
+
+# interp_g7x.cc takes discrete threshold branches on iterated floating-point
+# values; FMA contraction (GCC default -ffp-contract=fast when targeting
+# x86-64-v3, as on the ubuntu-26.04 CI runners) changes rounding enough to
+# flip branches and diverge the G71 toolpath. Disable contraction for this
+# file so codegen is independent of the compiler default arch.
+$(call TOOBJS, emc/rs274ngc/interp_g7x.cc): EXTRAFLAGS += -ffp-contract=off
 $(call TOOBJSDEPS, emc/rs274ngc/pyinterp1.cc emc/rs274ngc/pyparamclass.cc emc/rs274ngc/pyinterp1.cc emc/rs274ngc/pyblock.cc emc/rs274ngc/pyarrays.cc emc/rs274ngc/interpmodule.cc): EXTRAFLAGS += $(SILENCE_BOOST_INTERNAL_DIAGNOSTICS_FLAGS)
 
 TARGETS += ../lib/librs274.so ../lib/librs274.so.0

src/emc/rs274ngc/gcodemodule.cc

@@ -374,7 +374,7 @@ class MoveBatch {
         // have still been handed over once, and re-delivering them from a later
         // flush would duplicate them in the consumer's program.
         count_ = 0;
-        PyObject *view = PyMemoryView_FromMemory((char*)buf_,
+        PyObject *view = PyMemoryView_FromMemory(reinterpret_cast<char*>(buf_),
                 (Py_ssize_t)n * ROW * sizeof(double), PyBUF_READ);
         if(!view) { interp_error ++; return; }
         PyObject *result = callmethod(callback, "move_batch", "O", view);