tests: drop sudo from the test suite and the package CI job

.github/workflows/ci.yml

@@ -330,7 +330,7 @@ jobs:
         apt-get -q update
         apt --yes upgrade
         # Install stuff needed to check out the linuxcnc repo and turn it into a debian source package and run tests.
-        apt-get --yes --no-install-recommends install curl git lsb-release python3 devscripts sudo adduser xauth
+        apt-get --yes --no-install-recommends install curl git lsb-release python3 devscripts adduser xauth
     - name: Checkout repository
       uses: actions/checkout@v6
       with:
@@ -360,8 +360,6 @@ jobs:
       run: |
         set -x
         adduser --disabled-password --gecos "" testrunner
-        passwd -d testrunner
-        adduser testrunner sudo
         chmod 0777 $(find tests/ -type d) # make test dirs world-writable for the testrunner
         su -c "./scripts/runtests -p -d ./tests" testrunner
     - name: Verify no untracked or modified files after test

docs/src/code/writing-tests.adoc

@@ -31,8 +31,8 @@ The _runtests_ script accepts the following arguments, see the output from `scri
 -s  stop after any failed test.
 -p  print stderr and result files.
 -c  Remove temporary files from an earlier test run.
--u  Only run tests that require normal user access.
 -v  Show stdout and stderr (normally it's hidden).
+-d  Enable crash dumps: print a gdb backtrace of the core when a test crashes.
 ----
 
 == Writing tests
@@ -69,12 +69,9 @@ checkresult::
    If both `expected` and `checkresult` exist, only `checkresult` is consulted to validate the test output.
 
  skip::
-   If this file exist, the test is skipped and not executed at all.
-
- control::
-   This file can be used to flag specific needs in the test.
-   At the moment, the use of _sudo_ can be flagged, and tests requiring sudo can be skipped when using `runtests -u`.
-   To flag such requirements, add a line with `Restrictions: sudo` to this file.
+   If this file exists and is not executable, the test is skipped and not executed at all.
+   If it is executable, it is run first and the test is skipped when it exits non-zero.
+   Tests never use _sudo_: a test that builds or installs a component with `halcompile` needs the build tree, so its `skip` file is `[ -z "$SYSTEM_BUILD" ]`, which skips it when testing installed packages.
 
  musthave::
    This file can contain a list of prerequisites from config.h (one per line). If it's not met, the test will be skipped.

scripts/runtests.in

@@ -33,7 +33,6 @@ else
     export LIBDIR=@EMC2_HOME@/lib
     export LINUXCNC_EMCSH=@WISH@
     export REALTIME=@REALTIME@
-    export SUDO=sudo
 fi
 export PYTHON_CPPFLAGS="@PYTHON_CPPFLAGS@"
 export PYTHON_EXTRA_LIBS="@PYTHON_EXTRA_LIBS@"
@@ -236,14 +235,6 @@ run_tests () {
 		continue
 	    fi
 	fi
-	if $NOSUDO && [ -e "$testdir/control" ] && \
-		grep Restrictions: "$testdir/control" | grep -q sudo; then
-	    if ! [ -x "$testdir/skip" ] || ! "$testdir/skip"; then
-		echo "Skipping sudo test: $testdir" 1>&2
-		SKIP=$((SKIP + 1))
-		continue
-	    fi
-	fi
 	NUM=$((NUM + 1))
 	TEST_DIR=$(readlink -f "$testdir")
 	export TEST_DIR
@@ -338,10 +329,6 @@ Usage:
     $P -c tests
 	Remove temporary files from an earlier test run.
 
-    $P -u
-        Only run tests that require normal user access.  Skip tests
-        requiring root or sudo.
-
     $P -v
         Show stdout and stderr (normally it's hidden).
 
@@ -354,14 +341,12 @@ EOF
 
 CLEAN_ONLY=0
 NOCLEAN=0
-NOSUDO=false
 STOP=0
 PRINT=0
-while getopts cnuvsphd opt; do
+while getopts cnvsphd opt; do
     case "$opt" in
     c) CLEAN_ONLY=1 ;;
     n) NOCLEAN=1 ;;
-    u) NOSUDO=true ;;
     v) VERBOSE=1 ;;
     s) STOP=1 ;;
     p) PRINT=1 ;;

tests/README

@@ -30,11 +30,6 @@ can be run by executing (from the top emc2 directory)
 A subset of the tests can also be run:
 	scripts/runtests tests/xyz tests/a*
 
-To only run the tests that do not require root or sudo access, use the
--u option:
-
-	scripts/runtests -u tests
-
 The directories named on the commandline are searched recursively for
 'test.hal' or 'test.sh' files, and a directory with such a file is
 assumed to contain a regression test or a functional test.
@@ -100,10 +95,10 @@ and see if it indicates success.
 The test passes if the command "checkresult actual" returns a shell
 success value (exit code 0).  Otherwise, the test fails.
 
-Tests requiring root or sudo access are flagged by creating a file
-named control in the test directory, with the 'sudo' flag in the
-Restrictions field:
-
-  Restrictions: sudo
+Tests never use root or sudo.  A test directory may hold an executable
+file named skip; the test is skipped when it exits non-zero.  A test
+that builds or installs a component with halcompile needs the build
+tree, so it skips when testing installed packages:
 
-Other restrictions might be added in the future
+  #!/bin/sh
+  [ -z "$SYSTEM_BUILD" ]

tests/halcompile/personalities_mod/skip

@@ -0,0 +1,4 @@
+#!/bin/sh
+# Installs a component with halcompile, which needs a writable build
+# tree.  Skip when testing installed packages.
+[ -z "$SYSTEM_BUILD" ]

tests/halcompile/personalities_mod/test.sh

@@ -1,9 +1,9 @@
 #!/bin/bash
 set -e
 
-${SUDO} halcompile --personalities=2 --install lincurve_test.comp
-${SUDO} halcompile --personalities=2 --install logic_test.comp
-${SUDO} halcompile --personalities=2 --install bitslice_test.comp
+halcompile --personalities=2 --install lincurve_test.comp
+halcompile --personalities=2 --install logic_test.comp
+halcompile --personalities=2 --install bitslice_test.comp
 
 # This tells us the expected filename extension ${MODULE_EXT} of realtime
 # modules.

tests/halcompile/userspace-count-names/skip

@@ -0,0 +1,4 @@
+#!/bin/sh
+# Installs a component with halcompile, which needs a writable build
+# tree.  Skip when testing installed packages.
+[ -z "$SYSTEM_BUILD" ]

tests/halcompile/userspace-count-names/test.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 set -e
 
-${SUDO} halcompile --install userspace_count_names.comp
+halcompile --install userspace_count_names.comp
 
 INSTALLED_FILE="${EMC2_HOME}/bin/userspace_count_names"
 if [[ ! -f "${INSTALLED_FILE}" ]]; then

tests/kins-frames/test.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 set -e
 
-${SUDO} halcompile --install framecheck.c >/dev/null
+halcompile --install framecheck.c >/dev/null
 
 # One hal file per module: they all define the same entry points, so
 # only one can be loaded at a time.

tests/kins-jacobian/test.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 set -e
 
-${SUDO} halcompile --install jaccheck.c >/dev/null
+halcompile --install jaccheck.c >/dev/null
 
 # One hal file per module: they all define the same entry points, so
 # only one can be loaded at a time.  A run that leaves the sweep at its

tests/module-loading/rtapi-app-main-fails/skip

@@ -0,0 +1,4 @@
+#!/bin/sh
+# Installs a component with halcompile, which needs a writable build
+# tree.  Skip when testing installed packages.
+[ -z "$SYSTEM_BUILD" ]

tests/module-loading/rtapi-app-main-fails/test.sh

@@ -1,5 +1,5 @@
 #!/bin/sh
-${SUDO} halcompile --install rtapi_app_main_fails.comp
+halcompile --install rtapi_app_main_fails.comp
 halrun -v setup.hal
 RETVAL=$?
 

tests/realtime-math/skip

@@ -0,0 +1,4 @@
+#!/bin/sh
+# Installs a component with halcompile, which needs a writable build
+# tree.  Skip when testing installed packages.
+[ -z "$SYSTEM_BUILD" ]

tests/realtime-math/test.sh

@@ -1,4 +1,4 @@
 #!/bin/sh
 set -xe
-${SUDO} halcompile --install rtmath.comp
+halcompile --install rtmath.comp
 halrun dotest.hal

tests/rtapi-shmem/skip

@@ -0,0 +1,4 @@
+#!/bin/sh
+# Installs a component with halcompile, which needs a writable build
+# tree.  Skip when testing installed packages.
+[ -z "$SYSTEM_BUILD" ]

tests/rtapi-shmem/test.sh

@@ -1,5 +1,5 @@
 #!/bin/sh
 
-${SUDO} halcompile --install test_shmem_rtcomp.comp
+halcompile --install test_shmem_rtcomp.comp
 
 halrun -V setup.hal

tests/symbols.0/skip

@@ -0,0 +1,4 @@
+#!/bin/sh
+# Installs a component with halcompile, which needs a writable build
+# tree.  Skip when testing installed packages.
+[ -z "$SYSTEM_BUILD" ]

tests/symbols.0/test.sh

@@ -1,5 +1,5 @@
 #!/bin/sh
 set -xe
-${SUDO} halcompile --install test_define.comp
-${SUDO} halcompile --install test_use.comp
+halcompile --install test_define.comp
+halcompile --install test_use.comp
 ! halrun dotest.hal

tests/symbols.1/skip

@@ -0,0 +1,4 @@
+#!/bin/sh
+# Installs a component with halcompile, which needs a writable build
+# tree.  Skip when testing installed packages.
+[ -z "$SYSTEM_BUILD" ]

tests/symbols.1/test.sh

@@ -1,5 +1,5 @@
 #!/bin/sh
 set -e
-${SUDO} halcompile --install test_define1.comp
-${SUDO} halcompile --install test_use1.comp
+halcompile --install test_define1.comp
+halcompile --install test_use1.comp
 halrun dotest.hal

tests/uspace/spawnv-root/skip

@@ -0,0 +1,4 @@
+#!/bin/sh
+# Installs a component with halcompile, which needs a writable build
+# tree.  Skip when testing installed packages.
+[ -z "$SYSTEM_BUILD" ]

tests/uspace/spawnv-root/test.sh

@@ -9,5 +9,5 @@ if [ "$RTPREFIX" != uspace ]; then
     exit 0
 fi
 
-${SUDO} halcompile --install test_uspace_spawnv.c
+halcompile --install test_uspace_spawnv.c
 halrun test_uspace_spawnv.hal