Build wpilib with cmake instead of gradle (#15)

* Move java lib install to /usr/local/frc/java * Build and install both debug and normal OpenCV libraries * Install OpenCV cmake files * Build OpenCV Java with version 8 target * Build static OpenCV for static allwpilib binaries * Move netconsoleTee install to /usr/local/frc/bin * Move multiCameraServer default app install to /usr/local/frc/bin * Install more FRC binaries * Fix /home/pi/zips/java-multiCameraServer.zip owner to pi:pi * Remove azure 60 minute timeout * Add openjdk-8-jdk to Azure docker image (this is needed for cmake to find javah as only cmake 3.9 is available)
2018-12-30 02:07:22 -08:00 · 2018-12-30 02:07:22 -08:00 · 43c710ec39
parent 0c1008defa
commit 43c710ec39
15 changed files with 266 additions and 97 deletions
--- a/.gitmodules
+++ b/.gitmodules
@ -7,6 +7,3 @@
 [submodule "deps/allwpilib"]
 	path = deps/allwpilib
 	url = https://github.com/wpilibsuite/allwpilib.git
-[submodule "deps/thirdparty-opencv"]
-	path = deps/thirdparty-opencv
-	url = https://github.com/wpilibsuite/thirdparty-opencv.git
--- a/azure-docker/Dockerfile
+++ b/azure-docker/Dockerfile
@ -7,6 +7,6 @@ RUN apt-get -y update \
        git vim parted \
        quilt realpath qemu-user-static debootstrap zerofree pxz zip dosfstools \
        bsdtar libcap2-bin rsync grep udev xz-utils curl xxd file \
-        build-essential cmake python3 ant sudo \
+        build-essential cmake python3 ant sudo openjdk-8-jdk \
    && apt-get -y -t stretch-backports install openjdk-11-jdk \
    && rm -rf /var/lib/apt/lists/*
--- a/azure-pipelines.yml
+++ b/azure-pipelines.yml
@ -9,6 +9,8 @@ jobs:
   pool:
     vmImage: 'Ubuntu 16.04'

+   timeoutInMinutes: 0
+
   container: pi-gen

   steps:
--- a/deps/02-extract.sh
+++ b/deps/02-extract.sh
@ -32,7 +32,22 @@ popd
 # opencv sources
 tar xzf ../01-download/3.4.4.tar.gz
 mv opencv-3.4.4 opencv
-cp ../thirdparty-opencv/arm-pi-gnueabihf.toolchain.cmake .
+sed -i -e 's/javac sourcepath/javac target="1.8" source="1.8" sourcepath/' opencv/modules/java/jar/build.xml.in
+
+# toolchain setup for opencv and wpilib
+cp ../arm-pi-gnueabihf.toolchain.cmake .
 cp -R ../thirdparty-opencv/jni .
+tar xzf ../01-download/jdk_11*.tar.gz jdk/include
+mkdir -p cmake-modules
+cat > cmake-modules/FindJNI.cmake << EOF
+set(JNI_INCLUDE_DIRS "${PWD}/jdk/include" "${PWD}/jdk/include/linux")
+set(JNI_LIBRARIES )
+set(JNI_FOUND YES)
+set(JAVA_AWT_LIBRARY )
+set(JAVA_JVM_LIBRARY )
+set(JAVA_INCLUDE_PATH "${PWD}/jdk/include")
+set(JAVA_INCLUDE_PATH2 "${PWD}/jdk/include/linux")
+set(JAVA_AWT_INCLUDE_PATH )
+EOF

 popd
--- a/deps/03-build.sh
+++ b/deps/03-build.sh
@ -2,53 +2,133 @@

 export PATH=${PWD}/02-extract/raspbian9/bin:${PATH}

+split_debug () {
+    arm-raspbian9-linux-gnueabihf-objcopy --only-keep-debug $1 $1.debug
+    arm-raspbian9-linux-gnueabihf-strip -g $1
+    arm-raspbian9-linux-gnueabihf-objcopy --add-gnu-debuglink=$1.debug $1
+}
+
+split_debug_so () {
+    pushd $1
+    for lib in *.so
+    do
+        split_debug $lib
+    done
+    popd
+}
+
+split_debug_exe () {
+    pushd $1
+    for exe in *
+    do
+        split_debug $exe
+    done
+    popd
+}
+
 # opencv
+build_opencv () {
+    cmake ../../02-extract/opencv \
+        -DWITH_CUDA=OFF \
+        -DWITH_IPP=OFF \
+        -DWITH_ITT=OFF \
+        -DWITH_OPENCL=OFF \
+        -DWITH_FFMPEG=OFF \
+        -DWITH_OPENEXR=OFF \
+        -DWITH_GSTREAMER=OFF \
+        -DWITH_LAPACK=OFF \
+        -DWITH_GTK=ON \
+        -DWITH_1394=OFF \
+        -DWITH_JASPER=OFF \
+        -DWITH_TIFF=OFF \
+        -DBUILD_JPEG=ON \
+        -DBUILD_PNG=ON \
+        -DBUILD_ZLIB=ON \
+        -DBUILD_TESTS=OFF \
+        -DPython_ADDITIONAL_VERSIONS=3.5 \
+        -DWITH_WEBP=OFF \
+        -DBUILD_JAVA=$2 \
+        -DBUILD_WITH_STATIC_CRT=OFF \
+        -DWITH_PROTOBUF=OFF \
+        -DWITH_DIRECTX=OFF \
+        -DENABLE_CXX11=ON \
+        -DBUILD_SHARED_LIBS=$2 \
+        -DCMAKE_BUILD_TYPE=$1 \
+        -DCMAKE_DEBUG_POSTFIX=d \
+        -DCMAKE_TOOLCHAIN_FILE=${PWD}/../../02-extract/arm-pi-gnueabihf.toolchain.cmake \
+        -DCMAKE_MAKE_PROGRAM=make \
+        -DENABLE_NEON=ON \
+        -DENABLE_VFPV3=ON \
+        -DBUILD_opencv_python3=$2 \
+        -DPYTHON3_INCLUDE_PATH=${PWD}/../../02-extract/raspbian9/arm-raspbian9-linux-gnueabihf/usr/include/python3.5m \
+        -DPYTHON3_NUMPY_INCLUDE_DIRS=${PWD}/../../02-extract/raspbian9/arm-raspbian9-linux-gnueabihf/usr/include/python3.5m/numpy \
+        -DOPENCV_EXTRA_FLAGS_DEBUG=-Og \
+        -DCMAKE_MODULE_PATH=${PWD}/../../02-extract/cmake-modules \
+        || exit 1
+    make -j3 || exit 1
+    make install || exit 1
+    if [ "$1" == "RelWithDebugInfo" ]
+    then
+        cp -p install/share/OpenCV/java/libopencv_java*.so install/lib/
+    fi
+    split_debug_so install/lib
+}
+
 mkdir -p 03-build/opencv-build
 pushd 03-build/opencv-build
-cmake ../../02-extract/opencv \
-    -DWITH_CUDA=OFF \
-    -DWITH_IPP=OFF \
-    -DWITH_ITT=OFF \
-    -DWITH_OPENCL=OFF \
-    -DWITH_FFMPEG=OFF \
-    -DWITH_OPENEXR=OFF \
-    -DWITH_GSTREAMER=OFF \
-    -DWITH_LAPACK=OFF \
-    -DWITH_GTK=ON \
-    -DWITH_1394=OFF \
-    -DWITH_JASPER=OFF \
-    -DWITH_TIFF=OFF \
-    -DBUILD_JPEG=ON \
-    -DBUILD_PNG=ON \
-    -DBUILD_ZLIB=ON \
-    -DBUILD_TESTS=OFF \
-    -DPython_ADDITIONAL_VERSIONS=3.5 \
-    -DWITH_WEBP=OFF \
-    -DBUILD_JAVA=ON \
-    -DBUILD_WITH_STATIC_CRT=OFF \
-    -DWITH_PROTOBUF=OFF \
-    -DWITH_DIRECTX=OFF \
-    -DENABLE_CXX11=ON \
-    -DBUILD_SHARED_LIBS=ON \
-    -DCMAKE_BUILD_TYPE=Release \
-    -DCMAKE_TOOLCHAIN_FILE=${PWD}/../../02-extract/arm-pi-gnueabihf.toolchain.cmake \
-    -DCMAKE_MAKE_PROGRAM=make \
-    -DENABLE_NEON=ON \
-    -DENABLE_VFPV3=ON \
-    -DBUILD_opencv_python3=ON \
-    -DPYTHON3_INCLUDE_PATH=${PWD}/../../02-extract/raspbian9/arm-raspbian9-linux-gnueabihf/usr/include/python3.5m \
-    -DPYTHON3_NUMPY_INCLUDE_DIRS=${PWD}/../../02-extract/raspbian9/arm-raspbian9-linux-gnueabihf/usr/include/python3.5m/numpy \
-    -DOPENCV_EXTRA_FLAGS_DEBUG=-Og \
-    -DCMAKE_MODULE_PATH=${PWD}/../../thirdparty-opencv/arm-frc-modules \
-    || exit 1
-make -j3 || exit 1
-make install || exit 1
+build_opencv RelWithDebugInfo ON || exit 1
+popd

+mkdir -p 03-build/opencv-build-debug
+pushd 03-build/opencv-build-debug
+build_opencv Debug ON || exit 1
+popd
+
+mkdir -p 03-build/opencv-static
+pushd 03-build/opencv-static
+build_opencv RelWithDebugInfo OFF || exit 1
 popd

 # wpiutil, cscore, ntcore, cameraserver
-pushd allwpilib
-./gradlew -PonlyRaspbian :wpiutil:build :cscore:build :ntcore:build :cameraserver:build :cameraserver:multiCameraServer:build || exit 1
+# always use the release version of opencv jar/jni
+build_wpilib () {
+    cmake ../../allwpilib \
+        -DCMAKE_BUILD_TYPE=$1 \
+        -DCMAKE_TOOLCHAIN_FILE=${PWD}/../../02-extract/arm-pi-gnueabihf.toolchain.cmake \
+        -DCMAKE_MODULE_PATH=${PWD}/../../02-extract/cmake-modules \
+        -DOPENCV_JAR_FILE=`ls ${PWD}/../opencv-build/install/share/OpenCV/java/opencv-*.jar` \
+        -DOPENCV_JNI_FILE=`ls ${PWD}/../opencv-build/install/share/OpenCV/java/libopencv_java*.so` \
+        -DOpenCV_DIR=${PWD}/../$2/install/share/OpenCV \
+        -DTHREADS_PTHREAD_ARG=-pthread \
+        || exit 1
+    make -j3 || exit 1
+    split_debug_so lib
+}
+
+mkdir -p 03-build/allwpilib-build
+pushd 03-build/allwpilib-build
+build_wpilib RelWithDebugInfo opencv-build || exit 1
+popd
+
+mkdir -p 03-build/allwpilib-build-debug
+pushd 03-build/allwpilib-build-debug
+build_wpilib Debug opencv-build-debug || exit 1
+popd
+
+# static (for tools)
+mkdir -p 03-build/allwpilib-static
+pushd 03-build/allwpilib-static
+cmake ../../allwpilib \
+    -DCMAKE_BUILD_TYPE=RelWithDebugInfo \
+    -DCMAKE_TOOLCHAIN_FILE=${PWD}/../../02-extract/arm-pi-gnueabihf.toolchain.cmake \
+    -DCMAKE_MODULE_PATH=${PWD}/../../02-extract/cmake-modules \
+    -DOpenCV_DIR=${PWD}/../opencv-static/install/share/OpenCV \
+    -DWITHOUT_JAVA=ON \
+    -DBUILD_SHARED_LIBS=OFF \
+    -DTHREADS_PTHREAD_ARG=-pthread \
+    || exit 1
+make -j3 || exit 1
+split_debug_exe bin
 popd

 # tools
--- a/deps/04-copy.sh
+++ b/deps/04-copy.sh
@ -21,7 +21,9 @@ sh -c 'cd examples && zip -r - python-multiCameraServer' > ${DEST}/python-multiC

 cp tools/setuidgids ${DEST}/
 cp tools/_cscore.so ${DEST}/_cscore.cpython-35m-arm-linux-gnueabihf.so
+cp tools/_cscore.so.debug ${DEST}/
 cp tools/rpiConfigServer ${DEST}/
+cp tools/rpiConfigServer.debug ${DEST}/

 #
 # openjdk
@ -30,15 +32,19 @@ cp tools/rpiConfigServer ${DEST}/
 cp 01-download/jdk_11.0.1-strip.tar.gz ${DEST}/

 #
-# thirdparty-opencv
+# opencv
 #

 sh -c 'cd 03-build/opencv-build/install/lib && tar czf - libopencv*' > ${DEST}/libopencv.tar.gz
+sh -c 'cd 03-build/opencv-build-debug/install/lib && tar czf - libopencv*' > ${DEST}/libopencv-debug.tar.gz

 sh -c 'cd 03-build/opencv-build/install/include && tar czf - .' > ${DEST}/opencv-include.tar.gz

 cp 03-build/opencv-build/install/share/OpenCV/java/opencv-*.jar ${DEST}/

+sh -c 'cd 03-build/opencv-build/install/share/OpenCV && tar czf - *.cmake' > ${DEST}/opencv-cmake.tar.gz
+sh -c 'cd 03-build/opencv-build-debug/install/share/OpenCV && tar czf - *.cmake' > ${DEST}/opencv-cmake-debug.tar.gz
+
 # the opencv build names the python .so with the build platform name instead
 # of the target platform, so rename it
 cp 03-build/opencv-build/install/python/cv2/python-*/cv2.*.so ${DEST}/cv2.cpython-35m-arm-linux-gnueabihf.so
@ -59,32 +65,14 @@ sh -c 'cd pynetworktables && tar czf - networktables ntcore' > ${DEST}/pynetwork
 # allwpilib
 #

-cp \
-  allwpilib/wpiutil/build/libs/wpiutil/shared/release/libwpiutil.so* \
-  allwpilib/wpiutil/build/libs/wpiutil/shared/debug/libwpiutild.so* \
-  allwpilib/wpiutil/build/libs/wpiutil.jar \
-  allwpilib/cscore/build/libs/cscore/shared/release/libcscore.so* \
-  allwpilib/cscore/build/libs/cscore/shared/debug/libcscored.so* \
-  allwpilib/cscore/build/libs/cscoreJNIShared/shared/release/libcscorejni.so* \
-  allwpilib/cscore/build/libs/cscore.jar \
-  allwpilib/ntcore/build/libs/ntcore/shared/release/libntcore.so* \
-  allwpilib/ntcore/build/libs/ntcore/shared/debug/libntcored.so* \
-  allwpilib/ntcore/build/libs/ntcoreJNIShared/shared/release/libntcorejni.so* \
-  allwpilib/ntcore/build/libs/ntcore.jar \
-  allwpilib/cameraserver/build/libs/cameraserver/shared/release/libcameraserver.so* \
-  allwpilib/cameraserver/build/libs/cameraserver/shared/debug/libcameraserverd.so* \
-  allwpilib/cameraserver/build/libs/cameraserver.jar \
-  ${DEST}/
+sh -c 'cd 03-build/allwpilib-build/lib && tar czf - lib*' > ${DEST}/wpilib.tar.gz
+sh -c 'cd 03-build/allwpilib-build-debug/lib && tar czf - lib*' > ${DEST}/wpilib-debug.tar.gz
+
+cp 03-build/allwpilib-build/jar/*.jar ${DEST}/

 sh -c 'cd allwpilib/wpiutil/src/main/native/include && tar czf - uv.h uv wpi' > ${DEST}/wpiutil-include.tar.gz
 sh -c 'cd allwpilib/cscore/src/main/native/include && tar czf - .' > ${DEST}/cscore-include.tar.gz
 sh -c 'cd allwpilib/ntcore/src/main/native/include && tar czf - .' > ${DEST}/ntcore-include.tar.gz
 sh -c 'cd allwpilib/cameraserver/src/main/native/include && tar czf - cameraserver vision' > ${DEST}/cameraserver-include.tar.gz

-cp \
-  allwpilib/cameraserver/multiCameraServer/build/exe/multiCameraServerCpp/multiCameraServerCpp \
-  ${DEST}/multiCameraServer
-
-cp \
-  allwpilib/wpiutil/build/exe/netconsoleTee/netconsoleTee \
-  ${DEST}/
+sh -c 'cd 03-build/allwpilib-static/bin && tar czf - cscore_* multiCameraServer* netconsoleTee*' > ${DEST}/wpilib-bin.tar.gz
--- a/deps/allwpilib
+++ b/deps/allwpilib
@ -1 +1 @@
-Subproject commit 7d7af287f6718c0fcb2123aca1b2cebc3177ade5
+Subproject commit 300eeb330d78e2ef605d30644efbc4dd8bcdad61
--- a/deps/arm-pi-gnueabihf.toolchain.cmake
+++ b/deps/arm-pi-gnueabihf.toolchain.cmake
@ -0,0 +1,77 @@
+if(COMMAND toolchain_save_config)
+  return() # prevent recursive call
+endif()
+
+set(GCC_COMPILER_VERSION "" CACHE STRING "GCC Compiler version")
+set(GNU_MACHINE "arm-raspbian9-linux-gnueabi" CACHE STRING "GNU compiler triple")
+set(SOFTFP no)
+set(FLOAT_ABI_SUFFIX "hf")
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_VERSION 1)
+set(CMAKE_SYSTEM_PROCESSOR arm)
+
+include("${CMAKE_CURRENT_LIST_DIR}/opencv/platforms/linux/gnu.toolchain.cmake")
+
+if(NOT DEFINED CMAKE_C_COMPILER)
+  find_program(CMAKE_C_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-gcc${__GCC_VER_SUFFIX})
+else()
+  #message(WARNING "CMAKE_C_COMPILER=${CMAKE_C_COMPILER} is defined")
+endif()
+if(NOT DEFINED CMAKE_CXX_COMPILER)
+  find_program(CMAKE_CXX_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-g++${__GCC_VER_SUFFIX})
+else()
+  #message(WARNING "CMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} is defined")
+endif()
+if(NOT DEFINED CMAKE_LINKER)
+  find_program(CMAKE_LINKER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld)
+else()
+  #message(WARNING "CMAKE_LINKER=${CMAKE_LINKER} is defined")
+endif()
+if(NOT DEFINED CMAKE_AR)
+  find_program(CMAKE_AR NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar)
+else()
+  #message(WARNING "CMAKE_AR=${CMAKE_AR} is defined")
+endif()
+
+if(NOT DEFINED ARM_LINUX_SYSROOT AND DEFINED GNU_MACHINE)
+  set(ARM_LINUX_SYSROOT /usr/${GNU_MACHINE}${FLOAT_ABI_SUFFIX})
+endif()
+
+if(NOT DEFINED CMAKE_CXX_FLAGS)
+  set(CMAKE_CXX_FLAGS           "" CACHE INTERNAL "")
+  set(CMAKE_C_FLAGS             "" CACHE INTERNAL "")
+  set(CMAKE_SHARED_LINKER_FLAGS "" CACHE INTERNAL "")
+  set(CMAKE_MODULE_LINKER_FLAGS "" CACHE INTERNAL "")
+  set(CMAKE_EXE_LINKER_FLAGS    "" CACHE INTERNAL "")
+
+  set(CMAKE_CXX_FLAGS           "${CMAKE_CXX_FLAGS} -Wno-psabi")
+  set(CMAKE_C_FLAGS             "${CMAKE_C_FLAGS} -Wno-psabi")
+  set(CMAKE_SHARED_LINKER_FLAGS "${ARM_LINKER_FLAGS} -rdynamic ${CMAKE_SHARED_LINKER_FLAGS}")
+  set(CMAKE_MODULE_LINKER_FLAGS "${ARM_LINKER_FLAGS} -rdynamic ${CMAKE_MODULE_LINKER_FLAGS}")
+  set(CMAKE_EXE_LINKER_FLAGS    "${ARM_LINKER_FLAGS} -rdynamic ${CMAKE_EXE_LINKER_FLAGS}")
+else()
+  #message(WARNING "CMAKE_CXX_FLAGS='${CMAKE_CXX_FLAGS}' is defined")
+endif()
+
+if(USE_NEON)
+  message(WARNING "You use obsolete variable USE_NEON to enable NEON instruction set. Use -DENABLE_NEON=ON instead." )
+  set(ENABLE_NEON TRUE)
+elseif(USE_VFPV3)
+  message(WARNING "You use obsolete variable USE_VFPV3 to enable VFPV3 instruction set. Use -DENABLE_VFPV3=ON instead." )
+  set(ENABLE_VFPV3 TRUE)
+endif()
+
+set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${ARM_LINUX_SYSROOT})
+
+if(EXISTS ${CUDA_TOOLKIT_ROOT_DIR})
+  set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${CUDA_TOOLKIT_ROOT_DIR})
+endif()
+
+set(TOOLCHAIN_CONFIG_VARS ${TOOLCHAIN_CONFIG_VARS}
+    ARM_LINUX_SYSROOT
+    ENABLE_NEON
+    ENABLE_VFPV3
+    CUDA_TOOLKIT_ROOT_DIR
+)
+toolchain_save_config()
+
--- a/deps/examples/java-multiCameraServer/build.gradle
+++ b/deps/examples/java-multiCameraServer/build.gradle
@ -11,7 +11,7 @@ apply plugin: 'com.github.johnrengelman.shadow'
 repositories {
    mavenCentral()
    flatDir {
-        dirs '/home/pi/javalibs', '.'
+        dirs '/usr/local/frc/java', '.'
    }
 }

--- a/deps/thirdparty-opencv
+++ b/deps/thirdparty-opencv
@ -1 +0,0 @@
-Subproject commit 579bc6b26169c690bdadb52150d4396e696eed31
--- a/deps/tools/Makefile
+++ b/deps/tools/Makefile
@ -1,7 +1,8 @@
 SYSROOT?=../02-extract/raspbian9/arm-raspbian9-linux-gnueabihf
 COMPILER?=../02-extract/raspbian9/bin/arm-raspbian9-linux-gnueabihf-
-WPILIB?=../allwpilib
-WPILIB_PLATFORM?=.
+WPILIB_SRC?=../allwpilib
+WPILIB_BUILD?=../03-build/allwpilib-build
+WPILIB_STATIC_BUILD?=../03-build/allwpilib-static
 OPENCV_INSTALL?=../03-build/opencv-build/install
 EXEC_HOME?=/home/pi
 FRC_JSON?=/boot/frc.json
@ -25,19 +26,21 @@ setuidgids: setuidgids.c
 	${COMPILER}gcc -O -Wall -D_GNU_SOURCE -o $@ $<

 _cscore.so: ../robotpy-cscore/src/_cscore.cpp ../robotpy-cscore/src/ndarray_converter.cpp
-	${COMPILER}g++ -O -Wall -fvisibility=hidden -shared -fPIC -o $@ \
+	${COMPILER}g++ -g -O -Wall -fvisibility=hidden -shared -fPIC -o $@ \
 	    -I${OPENCV_INSTALL}/include \
-	    -I${WPILIB}/wpiutil/src/main/native/include \
-	    -I${WPILIB}/cscore/src/main/native/include \
+	    -I${WPILIB_SRC}/wpiutil/src/main/native/include \
+	    -I${WPILIB_SRC}/cscore/src/main/native/include \
 	    -I${SYSROOT}/usr/include/python3.5 \
-	    -L${WPILIB}/cscore/build/libs/cscore/shared/${WPILIB_PLATFORM}/release \
-	    -L${WPILIB}/wpiutil/build/libs/wpiutil/shared/${WPILIB_PLATFORM}/release \
+	    -L${WPILIB_BUILD}/lib \
 	    -L${OPENCV_INSTALL}/lib \
 	    ../robotpy-cscore/src/_cscore.cpp \
 	    ../robotpy-cscore/src/ndarray_converter.cpp \
 	    -lcscore \
 	    -lwpiutil \
 	    -lopencv_highgui -lopencv_imgcodecs -lopencv_imgproc -lopencv_core
+	${COMPILER}objcopy --only-keep-debug $@ $@.debug
+	${COMPILER}strip -g $@
+	${COMPILER}objcopy --add-gnu-debuglink=$@.debug $@

 RPICONFIGSERVER_OBJS= \
    rpiConfigServer_src/main.o \
@ -53,17 +56,17 @@ RPICONFIGSERVER_OBJS= \
    rpiConfigServer_src/resources/frcvision.js.o

 rpiConfigServer: ${RPICONFIGSERVER_OBJS}
-	${COMPILER}g++ -pthread -o $@ \
+	${COMPILER}g++ -pthread -g -o $@ \
 	    ${RPICONFIGSERVER_OBJS} \
-	    -L${WPILIB}/wpiutil/build/libs/wpiutil/static/${WPILIB_PLATFORM}/release \
+	    -L${WPILIB_STATIC_BUILD}/lib \
 	    -lwpiutil
 	${COMPILER}objcopy --only-keep-debug $@ $@.debug
 	${COMPILER}strip -g $@
 	${COMPILER}objcopy --add-gnu-debuglink=$@.debug $@

 %.o: %.cpp
-	${COMPILER}g++ -O -Wall -c -o $@ \
-	    -I${WPILIB}/wpiutil/src/main/native/include \
+	${COMPILER}g++ -g -O -Wall -c -o $@ \
+	    -I${WPILIB_SRC}/wpiutil/src/main/native/include \
 	    '-DEXEC_HOME="${EXEC_HOME}"' \
 	    '-DFRC_JSON="${FRC_JSON}"' \
 	    '-DDHCPCD_CONF="${DHCPCD_CONF}"' \
--- a/deps/tools/rpiConfigServer_src/Application.cpp
+++ b/deps/tools/rpiConfigServer_src/Application.cpp
@ -30,7 +30,7 @@ void Application::Set(wpi::StringRef appType,
  wpi::StringRef appCommand;

  if (appType == "builtin") {
-    appCommand = "./multiCameraServer";
+    appCommand = "/usr/local/frc/bin/multiCameraServer";
  } else if (appType == "example-java") {
    appDir = "java-multiCameraServer";
    appCommand =
--- a/stage2/01-sys-tweaks/01-run.sh
+++ b/stage2/01-sys-tweaks/01-run.sh
@ -21,8 +21,6 @@ install -m 644 files/frc.json "${ROOTFS_DIR}/boot/"

 install -m 755 extfiles/setuidgids "${ROOTFS_DIR}/usr/local/bin/"

-install -m 755 -o 1000 -g 1000 extfiles/multiCameraServer "${ROOTFS_DIR}/home/pi/"
-
 cat extfiles/jdk_11.0.1-strip.tar.gz | sh -c "mkdir -p ${ROOTFS_DIR}/usr/lib/jvm && cd ${ROOTFS_DIR}/usr/lib/jvm/ && tar xzf - --exclude=\*.diz --exclude=src.zip --transform=s/^jdk/jdk-11.0.1/"
 cp files/jdk-11.0.1.jinfo "${ROOTFS_DIR}/usr/lib/jvm/.jdk-11.0.1.jinfo"

@ -83,8 +81,13 @@ EOF

 install -m 644 files/ld.so.conf.d/*.conf "${ROOTFS_DIR}/etc/ld.so.conf.d/"

+install -v -d "${ROOTFS_DIR}/usr/local/frc/bin"
+
+cat extfiles/wpilib-bin.tar.gz | sh -c 'cd ${ROOTFS_DIR}/usr/local/frc/bin/ && tar xzf -'
+
 install -v -d "${ROOTFS_DIR}/usr/local/frc/lib"

+cat extfiles/libopencv-debug.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/lib/ && tar xzf -"
 cat extfiles/libopencv.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/lib/ && tar xzf -"

 install -m 755 extfiles/cv2.*.so "${ROOTFS_DIR}/usr/local/lib/python3.5/dist-packages/"
@ -93,10 +96,8 @@ cat extfiles/pynetworktables.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/lib/pyth
 cat extfiles/robotpy-cscore.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/lib/python3.5/dist-packages/ && tar xzf -"
 install -m 755 extfiles/_cscore.*.so "${ROOTFS_DIR}/usr/local/lib/python3.5/dist-packages/cscore/"

-install -m 755 extfiles/libwpiutil*.so* "${ROOTFS_DIR}/usr/local/frc/lib/"
-install -m 755 extfiles/libcscore*.so* "${ROOTFS_DIR}/usr/local/frc/lib/"
-install -m 755 extfiles/libntcore*.so* "${ROOTFS_DIR}/usr/local/frc/lib/"
-install -m 755 extfiles/libcameraserver*.so* "${ROOTFS_DIR}/usr/local/frc/lib/"
+cat extfiles/wpilib-debug.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/lib/ && tar xzf -"
+cat extfiles/wpilib.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/lib/ && tar xzf -"

 install -v -d "${ROOTFS_DIR}/usr/local/frc/include"

@ -105,6 +106,15 @@ cat extfiles/cscore-include.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/inclu
 cat extfiles/ntcore-include.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include/ && tar xzf -"
 cat extfiles/cameraserver-include.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include/ && tar xzf -"

+install -v -d "${ROOTFS_DIR}/usr/local/frc/share/OpenCV"
+
+cat extfiles/opencv-cmake-debug.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/share/OpenCV/ && tar xzf -"
+cat extfiles/opencv-cmake.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/share/OpenCV/ && tar xzf -"
+
+install -v -d "${ROOTFS_DIR}/usr/local/frc/java"
+
+install -m 644 -o 1000 -g 1000 extfiles/*.jar "${ROOTFS_DIR}/usr/local/frc/java/"
+
 install -v -o 1000 -g 1000 -d "${ROOTFS_DIR}/home/pi/examples/"
 install -v -o 1000 -g 1000 extfiles/*-multiCameraServer.zip "${ROOTFS_DIR}/home/pi/examples/"
 on_chroot << EOF
@ -117,11 +127,10 @@ mv *.zip ../zips/
 chown -R 1000:1000 .
 EOF

-install -v -o 1000 -g 1000 -d "${ROOTFS_DIR}/home/pi/javalibs/"
-install -m 644 -o 1000 -g 1000 extfiles/*.jar "${ROOTFS_DIR}/home/pi/javalibs/"
-sh -c "cd ${ROOTFS_DIR}/home/pi/javalibs && zip ../zips/java-multiCameraServer.zip *.jar"
+sh -c "cd ${ROOTFS_DIR}/usr/local/frc/java && zip ${ROOTFS_DIR}/home/pi/zips/java-multiCameraServer.zip *.jar"

 on_chroot << EOF
+chown -R 1000:1000 /home/pi/zips
 ldconfig
 EOF

@ -130,8 +139,7 @@ install -v -d "${ROOTFS_DIR}/service/configServer"
 install -m 755 files/configServer_run "${ROOTFS_DIR}/service/configServer/run"

 install -m 755 extfiles/rpiConfigServer "${ROOTFS_DIR}/usr/local/sbin/configServer"
-
-install -m 755 extfiles/netconsoleTee "${ROOTFS_DIR}/usr/local/bin/"
+install -m 644 extfiles/rpiConfigServer.debug "${ROOTFS_DIR}/usr/local/sbin/"

 install -v -d "${ROOTFS_DIR}/service/camera"
 install -v -d "${ROOTFS_DIR}/service/camera/log"
--- a/stage2/01-sys-tweaks/files/camera_log_run
+++ b/stage2/01-sys-tweaks/files/camera_log_run
@ -1,2 +1,2 @@
 #!/bin/sh
-exec /usr/local/bin/netconsoleTee -u
+exec /usr/local/frc/bin/netconsoleTee -u
--- a/stage2/01-sys-tweaks/files/runCamera
+++ b/stage2/01-sys-tweaks/files/runCamera
@ -2,4 +2,4 @@
 ### TYPE: builtin
 echo "Waiting 5 seconds..."
 sleep 5
-exec ./multiCameraServer
+exec /usr/local/frc/bin/multiCameraServer
				`@ -1 +0,0 @@`
				`Subproject commit 579bc6b26169c690bdadb52150d4396e696eed31`