Revamp image to build dependencies as part of stages (#83)

Fixes #17.

Stage 2 is fairly minimal, stage 3 builds/installs OpenCV and WPILib et al, and stage 4
builds/installs the FRCVision webdash and adds the vision examples.

Other changes:
- OpenCV compiled with ffmpeg, OpenBLAS, and libgtk (fixes #79, fixes #80)
- OpenBLAS added to image (fixes #65)
- C++ Makefile is more easily extensible (fixes #71)
- Sources for everything are bundled into image into /usr/src
- README updated (fixes #16)
- pkg-config files for wpilibc et al are now installed and C++ Makefile uses them (if compiled local to Pi)
- Both dynamic and static libs are included in image

The only downside of all these changes (particularly the ffmpeg, OpenBLAS, and libgtk inclusion)
is the image size is now over 3GB (800MB compressed). The previous image didn't quite fit on a
2GB card however.
This commit is contained in:
Peter Johnson 2019-02-02 23:37:18 -08:00 committed by GitHub
parent 02d5c468a2
commit c85fd9f33c
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
75 changed files with 775 additions and 721 deletions

10
.gitignore vendored
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@ -6,13 +6,9 @@ SKIP_IMAGES
.pc
*-pc
apt-cacher-ng/
deps/01-download
deps/02-extract
deps/03-build
deps/tools/_cscore.so
deps/tools/rpiConfigServer
deps/tools/setuidgids
deps/tools/configServer/configServer
deps/tools/multiCameraServer/multiCameraServer
deps/tools/setuidgids/setuidgids
*.o
*.sw?
*.debug
stage2/01-sys-tweaks/extfiles

9
.gitmodules vendored
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@ -1,9 +0,0 @@
[submodule "deps/robotpy-cscore"]
path = deps/robotpy-cscore
url = https://github.com/robotpy/robotpy-cscore.git
[submodule "deps/pynetworktables"]
path = deps/pynetworktables
url = https://github.com/robotpy/pynetworktables.git
[submodule "deps/allwpilib"]
path = deps/allwpilib
url = https://github.com/wpilibsuite/allwpilib.git

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@ -1,12 +1,14 @@
FROM debian:stretch
FROM debian:stretch-backports
ENV DEBIAN_FRONTEND noninteractive
RUN apt-get -y update && \
apt-get -y install \
git vim parted \
RUN apt-get -y update \
&& apt-get -y install \
git vim parted pkg-config \
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 openjdk-8-jdk \
&& apt-get -y -t stretch-backports install openjdk-11-jdk \
&& rm -rf /var/lib/apt/lists/*
COPY . /pi-gen/

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@ -1,6 +1,6 @@
# pi-gen
# FRCVision-pi-gen
_Tool used to create the raspberrypi.org Raspbian images_
_Tool used to create the FRCVision Raspbian image_
## Dependencies
@ -13,9 +13,13 @@ To install the required dependencies for pi-gen you should run:
```bash
apt-get install quilt parted realpath qemu-user-static debootstrap zerofree pxz zip \
dosfstools bsdtar libcap2-bin grep rsync xz-utils file git curl
dosfstools bsdtar libcap2-bin grep rsync xz-utils file git curl \
xxd build-essential cmake python3 ant sudo openjdk-8-jdk openjdk-11-jdk
```
Or better, use build-docker.sh instead of build.sh, as the Docker image will
install the required tools as part of the Docker image build.
The file `depends` contains a list of tools needed. The format of this
package is `<tool>[:<debian-package>]`.
@ -28,12 +32,12 @@ environment variables.
The following environment variables are supported:
* `IMG_NAME` **required** (Default: unset)
* `IMG_NAME` **required** (Default: `'FRCVision'`)
The name of the image to build with the current stage directories. Setting
`IMG_NAME=Raspbian` is logical for an unmodified RPi-Distro/pi-gen build,
but you should use something else for a customized version. Export files
in stages may add suffixes to `IMG_NAME`.
`IMG_NAME=FRCVision` is logical for an unmodified
wpilibsuite/FRCVision-pi-gen build, but you should use something else for a
customized version. Export files in stages may add suffixes to `IMG_NAME`.
* `APT_PROXY` (Default: unset)
@ -85,14 +89,14 @@ The following environment variables are supported:
If these are set, they are use to configure `wpa_supplicant.conf`, so that the raspberry pi can automatically connect to a wifi network on first boot.
* `ENABLE_SSH` (Default: `0`)
* `ENABLE_SSH` (Default: `1`)
Setting to `1` will enable ssh server for remote log in. Note that if you are using a common password such as the defaults there is a high risk of attackers taking over you RaspberryPi.
A simple example for building Raspbian:
A simple example for building FRCVision:
```bash
IMG_NAME='Raspbian'
IMG_NAME='FRCVision'
```
The config file can also be specified on the command line as an argument the `build.sh` or `build-docker.sh` scripts.
@ -181,10 +185,10 @@ solution).
## Stage Anatomy
### Raspbian Stage Overview
### FRCVision Raspbian Stage Overview
The build of Raspbian is divided up into several stages for logical clarity
and modularity. This causes some initial complexity, but it simplifies
The build of FRCVision Raspbian is divided up into several stages for logical
clarity and modularity. This causes some initial complexity, but it simplifies
maintenance and allows for more easy customization.
- **Stage 0** - bootstrap. The primary purpose of this stage is to create a
@ -204,34 +208,28 @@ maintenance and allows for more easy customization.
really usable yet in a traditional sense yet. Still, if you want minimal,
this is minimal and the rest you could reasonably do yourself as sysadmin.
- **Stage 2** - lite system. This stage produces the Raspbian-Lite image. It
installs some optimized memory functions, sets timezone and charmap
defaults, installs fake-hwclock and ntp, wifi and bluetooth support,
dphys-swapfile, and other basics for managing the hardware. It also
creates necessary groups and gives the pi user access to sudo and the
standard console hardware permission groups.
- **Stage 2** - basic system. It installs some optimized memory functions,
sets timezone and charmap defaults, installs fake-hwclock and ntp, wifi and
bluetooth support, dphys-swapfile, and other basics for managing the
hardware. It also creates necessary groups and gives the pi user access to
sudo and the standard console hardware permission groups. It also does most
of the configuration for a read-only filesystem.
There are a few tools that may not make a whole lot of sense here for
development purposes on a minimal system such as basic Python and Lua
development purposes on a minimal system such as basic Python and OpenJDK
packages as well as the `build-essential` package. They are lumped right
in with more essential packages presently, though they need not be with
pi-gen. These are understandable for Raspbian's target audience, but if
you were looking for something between truly minimal and Raspbian-Lite,
here's where you start trimming.
pi-gen.
- **Stage 3** - desktop system. Here's where you get the full desktop system
with X11 and LXDE, web browsers, git for development, Raspbian custom UI
enhancements, etc. This is a base desktop system, with some development
tools installed.
- **Stage 3** - OpenCV and WPILib system. Here's where you get the full
WPILib libraries for both Java and C++, as well as the required OpenCV
dependencies. The RobotPy NetworkTables and CameraServer libraries are
also built and installed here.
- **Stage 4** - Raspbian system meant to fit on a 4GB card. More development
tools, an email client, learning tools like Scratch, specialized packages
like sonic-pi, system documentation, office productivity, etc. This is the
stage that installs all of the things that make Raspbian friendly to new
users.
- **Stage 5** - The official Raspbian Desktop image. Right now only adds
Mathematica.
- **Stage 4** - The official FRCVision image. Adds multi camera builtin
application and services, the FRCVision web dashboard, and example vision
programs. This is the stage that builds and installs all of the things that
make FRCVision friendly to new users.
### Stage specification
@ -239,18 +237,9 @@ If you wish to build up to a specified stage (such as building up to stage 2
for a lite system), place an empty file named `SKIP` in each of the `./stage`
directories you wish not to include.
Then add an empty file named `SKIP_IMAGES` to `./stage4` (if building up to stage 2) or
to `./stage2` (if building a minimal system).
Then add an empty file named `SKIP_IMAGES` to `./stage4`.
```bash
# Example for building a lite system
echo "IMG_NAME='Raspbian'" > config
touch ./stage3/SKIP ./stage4/SKIP ./stage5/SKIP
touch ./stage4/SKIP_IMAGES ./stage5/SKIP_IMAGES
sudo ./build.sh # or ./build-docker.sh
```
If you wish to build further configurations upon (for example) the lite
If you wish to build further configurations upon (for example) the basic
system, you can also delete the contents of `./stage3` and `./stage4` and
replace with your own contents in the same format.
@ -261,13 +250,14 @@ If you're working on a specific stage the recommended development process is as
follows:
* Add a file called SKIP_IMAGES into the directories containing EXPORT_* files
(currently stage2, stage4 and stage5)
(currently stage4)
* Add SKIP files to the stages you don't want to build. For example, if you're
basing your image on the lite image you would add these to stages 3, 4 and 5.
* Run build.sh to build all stages
basing your image on the WPILib image you would add this to stage 4.
* Run build.sh to build all stages, or if you're using Docker, run ```env PRESERVE_CONTAINER=1 ./build-docker.sh```
* Add SKIP files to the earlier successfully built stages
* Modify the last stage
* Rebuild just the last stage using ```sudo CLEAN=1 ./build.sh```
* Rebuild just the last stage using ```sudo CLEAN=1 ./build.sh```, or if
you're using Docker, using ```env CONTINUE=1 PRESERVE_CONTAINER=1 ./build-docker.sh```
* Once you're happy with the image you can remove the SKIP_IMAGES files and
export your image to test

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@ -4,7 +4,7 @@ ENV DEBIAN_FRONTEND noninteractive
RUN apt-get -y update \
&& apt-get -y install \
git vim parted \
git vim parted pkg-config \
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 openjdk-8-jdk \

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@ -16,12 +16,9 @@ jobs:
steps:
- checkout: self
submodules: true
- script: |
cd deps && ./01-download.sh && ./02-extract.sh && ./03-build.sh && ./04-copy.sh
displayName: 'Build Image Dependencies'
- script: |
sudo sh -c 'dpkg-reconfigure qemu-user-static && ./build.sh'
cp deploy/*.zip $BUILD_ARTIFACTSTAGINGDIRECTORY
cp deploy/*.zip deploy/examples/*.zip $BUILD_ARTIFACTSTAGINGDIRECTORY
displayName: 'Build Image'
- task: PublishBuildArtifacts@1
inputs:

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@ -15,3 +15,11 @@ curl
xxd
file
git
pkg-config
gcc:build-essential
cmake
python3
ant
sudo
java:openjdk-8-jdk
java:openjdk-11-jdk

30
deps/01-download.sh vendored
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@ -1,30 +0,0 @@
#!/bin/bash
mkdir -p 01-download
pushd 01-download
# raspbian toolchain
wget -nc -nv \
https://github.com/wpilibsuite/raspbian-toolchain/releases/download/v1.2.0/Raspbian9-Linux-Toolchain-6.3.0.tar.gz
# openjdk binaries
wget -nc -nv \
https://github.com/wpilibsuite/raspbian-openjdk/releases/download/v2019-11.0.1-1/jdk_11.0.1-strip.tar.gz
# python headers/libs
wget -nc -nv \
http://archive.raspbian.org/raspbian/pool/main/p/python3.5/libpython3.5_3.5.3-1+deb9u1_armhf.deb \
http://archive.raspbian.org/raspbian/pool/main/p/python3.5/libpython3.5-dev_3.5.3-1+deb9u1_armhf.deb \
http://archive.raspbian.org/raspbian/pool/main/p/python3.5/libpython3.5-minimal_3.5.3-1+deb9u1_armhf.deb \
http://archive.raspbian.org/raspbian/pool/main/p/python3.5/python3.5-dev_3.5.3-1+deb9u1_armhf.deb \
http://archive.raspbian.org/raspbian/pool/main/p/python3.5/python3.5-minimal_3.5.3-1+deb9u1_armhf.deb \
http://archive.raspbian.org/raspbian/pool/main/p/python3.5/python3.5_3.5.3-1+deb9u1_armhf.deb \
http://archive.raspbian.org/raspbian/pool/main/p/python-numpy/python3-numpy_1.12.1-3_armhf.deb \
http://archive.raspbian.org/raspbian/pool/main/p/pybind11/python3-pybind11_2.2.4-2_all.deb \
http://archive.raspbian.org/raspbian/pool/main/p/pybind11/pybind11-dev_2.2.4-2_all.deb
# opencv sources
wget -nc -nv \
https://github.com/opencv/opencv/archive/3.4.4.tar.gz
popd

55
deps/02-extract.sh vendored
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@ -1,55 +0,0 @@
#!/bin/bash
mkdir -p 02-extract
pushd 02-extract
# raspbian toolchain
tar xzf ../01-download/Raspbian9-Linux-Toolchain-*.tar.gz
# additional headers/libs
pushd raspbian9/arm-raspbian9-linux-gnueabihf
# Extract data to toolchain basedir
for var in ../../../01-download/*.deb
do
ar p "$var" data.tar.xz | tar xJf -
done
# move the arm-linux-gnueabihf libs to just the base "lib"
sh -c 'cd lib && ln -s arm-linux-gnueabihf/* .'
sh -c 'cd usr/lib/debug && ln -s ../arm-linux-gnueabihf/debug/* .'
sh -c 'cd usr/lib && ln -s arm-linux-gnueabihf/* .'
# change absolute symlinks into relative symlinks
find . -lname '/*' | \
while read l ; do
echo ln -sf $(echo $(echo $l | sed 's|/[^/]*|/..|g')$(readlink $l) | sed 's/.....//') $l
done | \
sh
popd
# opencv sources
tar xzf ../01-download/3.4.4.tar.gz
mv opencv-3.4.4 opencv
sed -i -e 's/javac sourcepath/javac target="1.8" source="1.8" sourcepath/' opencv/modules/java/jar/build.xml.in
# disable extraneous data warnings; these are common with USB cameras
sed -i -e '/JWRN_EXTRANEOUS_DATA/d' opencv/3rdparty/libjpeg/jdmarker.c
sed -i -e '/JWRN_EXTRANEOUS_DATA/d' opencv/3rdparty/libjpeg-turbo/src/jdmarker.c
# toolchain setup for opencv and wpilib
cp ../arm-pi-gnueabihf.toolchain.cmake .
tar xzf ../01-download/jdk_11*.tar.gz jdk/include
mkdir -p cmake-modules
cat > cmake-modules/FindJNI.cmake << EOF
set(JNI_INCLUDE_DIRS "${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

138
deps/03-build.sh vendored
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@ -1,138 +0,0 @@
#!/bin/bash
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
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
# always use the release version of opencv jar/jni
build_wpilib () {
cmake ../../allwpilib \
-DWITHOUT_ALLWPILIB=OFF \
-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
pushd tools
make || exit 1
popd

80
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@ -1,80 +0,0 @@
#!/bin/sh
DEST=${PWD}/../stage2/01-sys-tweaks/extfiles
mkdir -p ${DEST}
#
# examples
#
sh -c 'cd examples && zip -r - java-multiCameraServer' > ${DEST}/java-multiCameraServer.zip
sh -c 'cd examples && zip -r - cpp-multiCameraServer' > ${DEST}/cpp-multiCameraServer.zip
sh -c 'cd examples && zip -r - python-multiCameraServer' > ${DEST}/python-multiCameraServer.zip
#
# tools
#
cp tools/setuidgids ${DEST}/
cp tools/_cscore.so ${DEST}/_cscore.cpython-35m-arm-linux-gnueabihf.so
cp tools/_cscore.so.debug ${DEST}/
cp tools/multiCameraServer ${DEST}/
cp tools/multiCameraServer.debug ${DEST}/
cp tools/rpiConfigServer ${DEST}/
cp tools/rpiConfigServer.debug ${DEST}/
#
# openjdk
#
cp 01-download/jdk_11.0.1-strip.tar.gz ${DEST}/
#
# 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
#
# robotpy-cscore
#
sh -c 'cd robotpy-cscore && tar czf - cscore' > ${DEST}/robotpy-cscore.tar.gz
#
# pynetworktables
#
sh -c 'cd pynetworktables && tar czf - networktables ntcore' > ${DEST}/pynetworktables.tar.gz
#
# allwpilib
#
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
sh -c 'cd 03-build/allwpilib-build/hal/gen && tar czf - .' > ${DEST}/hal-gen-include.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
sh -c 'cd allwpilib/hal/src/main/native/include && tar czf - .' > ${DEST}/hal-include.tar.gz
sh -c 'cd allwpilib/wpilibc/src/main/native/include && tar czf - frc' > ${DEST}/wpilibc-include.tar.gz
sh -c 'cd 03-build/allwpilib-static/bin && tar czf - cscore_* netconsoleTee*' > ${DEST}/wpilib-bin.tar.gz

1
deps/allwpilib vendored

@ -1 +0,0 @@
Subproject commit 05d6660a6be0d37064a9fab44232b8379884ccab

View File

@ -1,3 +1,5 @@
DEPS_CFLAGS?=$(shell env PKG_CONFIG_PATH=/usr/local/frc/lib/pkgconfig pkg-config --cflags wpilibc)
DEPS_LIBS?=$(shell env PKG_CONFIG_PATH=/usr/local/frc/lib/pkgconfig pkg-config --libs wpilibc)
EXE=multiCameraServerExample
DESTDIR?=/home/pi/
@ -11,31 +13,10 @@ install: build
clean:
rm ${EXE} *.o
${EXE}: main.o
${CXX} -pthread -o $@ $< \
-L/usr/local/frc/lib \
-lwpilibc \
-lwpiHal \
-lcameraserver \
-lcscore \
-lntcore \
-lwpiutil \
-lopencv_ml \
-lopencv_objdetect \
-lopencv_shape \
-lopencv_stitching \
-lopencv_superres \
-lopencv_videostab \
-lopencv_calib3d \
-lopencv_features2d \
-lopencv_highgui \
-lopencv_videoio \
-lopencv_imgcodecs \
-lopencv_video \
-lopencv_photo \
-lopencv_imgproc \
-lopencv_flann \
-lopencv_core
OBJS=main.o
${EXE}: ${OBJS}
${CXX} -pthread -g -o $@ $^ ${DEPS_LIBS} -Wl,--unresolved-symbols=ignore-in-shared-libs
.cpp.o:
${CXX} -pthread -O -c -o $@ -I/usr/local/frc/include $<
${CXX} -pthread -g -Og -c -o $@ ${CXXFLAGS} ${DEPS_CFLAGS} $<

@ -1 +0,0 @@
Subproject commit 8a4288452be26e26dccad32980f46000e8d97928

1
deps/robotpy-cscore vendored

@ -1 +0,0 @@
Subproject commit 2590274ca4e9ef852093152be34bde4e56d027f3

113
deps/tools/Makefile vendored
View File

@ -1,113 +0,0 @@
SYSROOT?=../02-extract/raspbian9/arm-raspbian9-linux-gnueabihf
COMPILER?=../02-extract/raspbian9/bin/arm-raspbian9-linux-gnueabihf-
WPILIB_SRC?=../allwpilib
WPILIB_BUILD?=../03-build/allwpilib-build
WPILIB_STATIC_BUILD?=../03-build/allwpilib-static
OPENCV_INSTALL?=../03-build/opencv-build/install
OPENCV_STATIC_INSTALL?=../03-build/opencv-static/install
EXEC_HOME?=/home/pi
FRC_JSON?=/boot/frc.json
DHCPCD_CONF?=/boot/dhcpcd.conf
APP_UID?=1000
APP_GID?=1000
.PHONY: all
.SUFFIXES:
all: setuidgids _cscore.so multiCameraServer rpiConfigServer
clean:
rm -f setuidgids
rm -f _cscore.so
rm -f rpiConfigServer
rm -f rpiConfigServer_src/*.o
rm -f rpiConfigServer_src/resources/*.o
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++ -g -O -Wall -fvisibility=hidden -shared -fPIC -o $@ \
-I${OPENCV_INSTALL}/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_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 $@
multiCameraServer: multiCameraServer.cpp
${COMPILER}g++ -pthread -g -o $@ \
-I${OPENCV_INSTALL}/include \
-I${WPILIB_SRC}/wpiutil/src/main/native/include \
-I${WPILIB_SRC}/cameraserver/src/main/native/include \
-I${WPILIB_SRC}/cscore/src/main/native/include \
-I${WPILIB_SRC}/ntcore/src/main/native/include \
-L${WPILIB_STATIC_BUILD}/lib \
-L${OPENCV_STATIC_INSTALL}/lib \
-L${OPENCV_STATIC_INSTALL}/share/OpenCV/3rdparty/lib \
$< \
-lcameraserver \
-lcscore \
-lntcore \
-lwpiutil \
-lopencv_highgui -lopencv_imgcodecs -lopencv_imgproc -lopencv_core \
-ltegra_hal -llibpng -llibjpeg-turbo -lzlib
${COMPILER}objcopy --only-keep-debug $@ $@.debug
${COMPILER}strip -g $@
${COMPILER}objcopy --add-gnu-debuglink=$@.debug $@
RPICONFIGSERVER_OBJS= \
rpiConfigServer_src/main.o \
rpiConfigServer_src/Application.o \
rpiConfigServer_src/MyHttpConnection.o \
rpiConfigServer_src/NetworkSettings.o \
rpiConfigServer_src/SystemStatus.o \
rpiConfigServer_src/VisionSettings.o \
rpiConfigServer_src/VisionStatus.o \
rpiConfigServer_src/WebSocketHandlers.o \
rpiConfigServer_src/resources/index.html.o \
rpiConfigServer_src/resources/frcvision.css.o \
rpiConfigServer_src/resources/frcvision.js.o
rpiConfigServer: ${RPICONFIGSERVER_OBJS}
${COMPILER}g++ -pthread -g -o $@ \
${RPICONFIGSERVER_OBJS} \
-L${WPILIB_STATIC_BUILD}/lib \
-L${OPENCV_STATIC_INSTALL}/lib \
-L${OPENCV_STATIC_INSTALL}/share/OpenCV/3rdparty/lib \
-lcscore \
-lwpiutil \
-lopencv_highgui -lopencv_imgcodecs -lopencv_imgproc -lopencv_core \
-ltegra_hal -llibpng -llibjpeg-turbo -lzlib
${COMPILER}objcopy --only-keep-debug $@ $@.debug
${COMPILER}strip -g $@
${COMPILER}objcopy --add-gnu-debuglink=$@.debug $@
%.o: %.cpp
${COMPILER}g++ -g -O -Wall -c -o $@ \
-I${WPILIB_SRC}/wpiutil/src/main/native/include \
-I${WPILIB_SRC}/cscore/src/main/native/include \
'-DEXEC_HOME="${EXEC_HOME}"' \
'-DFRC_JSON="${FRC_JSON}"' \
'-DDHCPCD_CONF="${DHCPCD_CONF}"' \
'-DAPP_UID=${APP_UID}' \
'-DAPP_GID=${APP_GID}' \
$<
%.html.cpp: %.html
./gen_resource.py $@ $<
%.css.cpp: %.css
./gen_resource.py $@ $<
%.js.cpp: %.js
./gen_resource.py $@ $<

54
deps/tools/configServer/Makefile vendored Normal file
View File

@ -0,0 +1,54 @@
DEPS_CFLAGS?=$(shell pkg-config --cflags cscore wpiutil)
DEPS_LIBS?=$(shell pkg-config --libs --static cscore wpiutil)
EXEC_HOME?=/home/pi
FRC_JSON?=/boot/frc.json
DHCPCD_CONF?=/boot/dhcpcd.conf
APP_UID?=1000
APP_GID?=1000
.PHONY: all clean
.SUFFIXES:
all: configServer
clean:
rm -f configServer
rm -f src/*.o
rm -f src/resources/*.o
OBJS= \
src/main.o \
src/Application.o \
src/MyHttpConnection.o \
src/NetworkSettings.o \
src/SystemStatus.o \
src/VisionSettings.o \
src/VisionStatus.o \
src/WebSocketHandlers.o \
src/resources/index.html.o \
src/resources/frcvision.css.o \
src/resources/frcvision.js.o
configServer: ${OBJS}
${CXX} -pthread -g -o $@ ${CXXFLAGS} $^ ${DEPS_LIBS}
%.o: %.cpp
${CXX} -g -O -Wall -c -o $@ \
${CXXFLAGS} \
${DEPS_CFLAGS} \
'-DEXEC_HOME="${EXEC_HOME}"' \
'-DFRC_JSON="${FRC_JSON}"' \
'-DDHCPCD_CONF="${DHCPCD_CONF}"' \
'-DAPP_UID=${APP_UID}' \
'-DAPP_GID=${APP_GID}' \
$<
%.html.cpp: %.html
./gen_resource.py $@ $<
%.css.cpp: %.css
./gen_resource.py $@ $<
%.js.cpp: %.js
./gen_resource.py $@ $<

12
deps/tools/multiCameraServer/Makefile vendored Normal file
View File

@ -0,0 +1,12 @@
DEPS_CFLAGS?=$(shell pkg-config --cflags cameraserver ntcore wpiutil)
DEPS_LIBS?=$(shell pkg-config --libs --static cameraserver ntcore wpiutil)
.PHONY: all clean
all: multiCameraServer
clean:
rm -f multiCameraServer
multiCameraServer: src/multiCameraServer.cpp
${CXX} -pthread -g -o $@ ${CXXFLAGS} ${DEPS_CFLAGS} $^ ${DEPS_LIBS}

9
deps/tools/setuidgids/Makefile vendored Normal file
View File

@ -0,0 +1,9 @@
.PHONY: all clean
all: setuidgids
clean:
rm -f setuidgids
setuidgids: src/setuidgids.c
${CC} -O -Wall -D_GNU_SOURCE -o $@ $^

View File

@ -1,3 +1,11 @@
#!/bin/bash -e
install -m 644 files/resolv.conf "${ROOTFS_DIR}/etc/"
on_chroot << EOF
rm -f /etc/resolv.conf
touch /tmp/dhcpcd.resolv.conf
ln -s /tmp/dhcpcd.resolve.conf /etc/resolv.conf
sed -i -e 's/\/run\//\/var\/run\//' /etc/systemd/system/dhcpcd5.service
mv /etc/dhcpcd.conf /boot/
chown root:root /boot/dhcpcd.conf
ln -s /boot/dhcpcd.conf /etc/dhcpcd.conf
EOF

View File

@ -2,6 +2,10 @@
IMG_FILE="${STAGE_WORK_DIR}/${IMG_FILENAME}.img"
INFO_FILE="${STAGE_WORK_DIR}/${IMG_FILENAME}.info"
EXAMPLE_DIR="${STAGE_WORK_DIR}/examples"
mkdir -p "${EXAMPLE_DIR}"
cp -p "${ROOTFS_DIR}"/home/pi/zips/* "${EXAMPLE_DIR}/"
on_chroot << EOF
/etc/init.d/fake-hwclock stop
@ -43,7 +47,6 @@ rm -f "${ROOTFS_DIR}/etc/vnc/updateid"
update_issue "$(basename "${EXPORT_DIR}")"
install -m 644 "${ROOTFS_DIR}/etc/rpi-issue" "${ROOTFS_DIR}/boot/issue.txt"
install files/LICENSE.oracle "${ROOTFS_DIR}/boot/"
cp "$ROOTFS_DIR/etc/rpi-issue" "$INFO_FILE"
@ -82,3 +85,4 @@ zip "${DEPLOY_DIR}/${ZIP_FILENAME}.zip" \
popd > /dev/null
cp "$INFO_FILE" "$DEPLOY_DIR"
cp -Rp "${EXAMPLE_DIR}" "${DEPLOY_DIR}"

View File

@ -1,72 +0,0 @@
Taken from http://www.java.com/license
Oracle Binary Code License Agreement for the Java SE Platform Products and JavaFX
ORACLE AMERICA, INC. ("ORACLE"), FOR AND ON BEHALF OF ITSELF AND ITS SUBSIDIARIES AND AFFILIATES UNDER COMMON CONTROL, IS WILLING TO LICENSE THE SOFTWARE TO YOU ONLY UPON THE CONDITION THAT YOU ACCEPT ALL OF THE TERMS CONTAINED IN THIS BINARY CODE LICENSE AGREEMENT AND SUPPLEMENTAL LICENSE TERMS (COLLECTIVELY "AGREEMENT"). PLEASE READ THE AGREEMENT CAREFULLY. BY SELECTING THE "ACCEPT LICENSE AGREEMENT" (OR THE EQUIVALENT) BUTTON AND/OR BY USING THE SOFTWARE YOU ACKNOWLEDGE THAT YOU HAVE READ THE TERMS AND AGREE TO THEM. IF YOU ARE AGREEING TO THESE TERMS ON BEHALF OF A COMPANY OR OTHER LEGAL ENTITY, YOU REPRESENT THAT YOU HAVE THE LEGAL AUTHORITY TO BIND THE LEGAL ENTITY TO THESE TERMS. IF YOU DO NOT HAVE SUCH AUTHORITY, OR IF YOU DO NOT WISH TO BE BOUND BY THE TERMS, THEN SELECT THE "DECLINE LICENSE AGREEMENT" (OR THE EQUIVALENT) BUTTON AND YOU MUST NOT USE THE SOFTWARE ON THIS SITE OR ANY OTHER MEDIA ON WHICH THE SOFTWARE IS CONTAINED.
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and Oracle that Oracle owns the ORACLE and JAVA trademarks and all ORACLE- and JAVA-related trademarks, service marks, logos and other brand
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SUPPLEMENTAL LICENSE TERMS
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A. COMMERCIAL FEATURES. You may not use the Commercial Features for running Programs, Java applets or applications in your internal business operations or for any commercial or production purpose, or for any purpose other than as set forth in Sections B, C, D and E of these Supplemental Terms. If You want to use the Commercial Features for any purpose other than as permitted in this Agreement, You must obtain a separate license from Oracle.
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C. LICENSE TO DISTRIBUTE SOFTWARE. Subject to the terms and conditions of this Agreement and restrictions and exceptions set forth in the README File, including, but not limited to the Java Technology Restrictions and Limitations on Redistribution of these Supplemental Terms, Oracle grants you a non-exclusive, non-transferable, limited license without fees to reproduce and distribute the Software, provided that (i) you distribute the Software complete and unmodified and only bundled as part of, and for the sole purpose of running, your Programs, (ii) the Programs add significant and primary functionality to the Software, (iii) you do not distribute additional software intended to replace any component(s) of the Software, (iv) you do not remove or alter any proprietary legends or notices contained in the Software, (v) you only distribute the Software subject to a license agreement that: (a) is a complete, unmodified reproduction of this Agreement; or (b) protects Oracle's interests consistent with the terms contained in this Agreement and that includes the notice set forth in Section H, and (vi) you agree to defend and indemnify Oracle and its licensors from and against any damages, costs, liabilities, settlement amounts and/or expenses (including attorneys' fees) incurred in connection with any claim, lawsuit or action by any third party that arises or results from the use or distribution of any and all Programs and/or Software. The license set forth in this Section C does not extend to the Software identified in Section G.
D. LICENSE TO DISTRIBUTE REDISTRIBUTABLES. Subject to the terms and conditions of this Agreement and restrictions and exceptions set forth in the README File, including but not limited to the Java Technology Restrictions and Limitations on Redistribution of these Supplemental Terms, Oracle grants you a non-exclusive, non-transferable, limited license without fees to reproduce and distribute those files specifically identified as redistributable in the README File ("Redistributables") provided that: (i) you distribute the Redistributables complete and unmodified, and only bundled as part of Programs, (ii) the Programs add significant and primary functionality to the Redistributables, (iii) you do not distribute additional software intended to supersede any component(s) of the Redistributables (unless otherwise specified in the applicable README File), (iv) you do not remove or alter any proprietary legends or notices contained in or on the Redistributables, (v) you only distribute the Redistributables pursuant to a license agreement that: (a) is a complete, unmodified reproduction of this Agreement; or (b) protects Oracle's interests consistent with the terms contained in the Agreement and includes the notice set forth in Section H, (vi) you agree to defend and indemnify Oracle and its licensors from and against any damages, costs, liabilities, settlement amounts and/or expenses (including attorneys' fees) incurred in connection with any claim, lawsuit or action by any third party that arises or results from the use or distribution of any and all Programs and/or Software. The license set forth in this Section D does not extend to the Software identified in Section G.
E. DISTRIBUTION BY PUBLISHERS. This section pertains to your distribution of the JavaTM SE Development Kit Software (“JDK”) with your printed book or magazine (as those terms are commonly used in the industry) relating to Java technology ("Publication"). Subject to and conditioned upon your compliance with the restrictions and obligations contained in the Agreement, Oracle hereby grants to you a non-exclusive, nontransferable limited right to reproduce complete and unmodified copies of the JDK on electronic media (the "Media") for the sole purpose of inclusion and distribution with your Publication(s), subject to the following terms: (i) You may not distribute the JDK on a stand-alone basis; it must be distributed with your Publication(s); (ii) You are responsible for downloading the JDK from the applicable Oracle web site; (iii) You must refer to the JDK as JavaTM SE Development Kit; (iv) The JDK must be reproduced in its entirety and without any modification whatsoever (including with respect to all proprietary notices) and distributed with your Publication subject to a license agreement that is a complete, unmodified reproduction of this Agreement; (v) The Media label shall include the following information: “Copyright [YEAR], Oracle America, Inc. All rights reserved. Use is subject to license terms. ORACLE and JAVA trademarks and all ORACLE- and JAVA-related trademarks, service marks, logos and other brand designations are trademarks or registered trademarks of Oracle in the U.S. and other countries.” [YEAR] is the year of Oracle's release of the Software; the year information can typically be found in the Softwares “About” box or screen. This information must be placed on the Media label in such a manner as to only apply to the JDK; (vi) You must clearly identify the JDK as Oracle's product on the Media holder or Media label, and you may not state or imply that Oracle is responsible for any third-party software contained on the Media; (vii) You may not include any third party software on the Media which is intended to be a replacement or substitute for the JDK; (viii) You agree to defend and indemnify Oracle and its licensors from and against any damages, costs, liabilities, settlement amounts and/or expenses (including attorneys' fees) incurred in connection with any claim, lawsuit or action by any third party that arises or results from the use or distribution of the JDK and/or the Publication; ; and (ix) You shall provide Oracle with a written notice for each Publication; such notice shall include the following information: (1) title of Publication, (2) author(s), (3) date of Publication, and (4) ISBN or ISSN numbers. Such notice shall be sent to Oracle America, Inc., 500 Oracle Parkway, Redwood Shores, California 94065 U.S.A , Attention: General Counsel.
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G. LIMITATIONS ON REDISTRIBUTION. You may not redistribute or otherwise transfer patches, bug fixes or updates made available by Oracle through Oracle Premier Support, including those made available under Oracle's Java SE Support program.
H. COMMERCIAL FEATURES NOTICE. For purpose of complying with Supplemental Term Section C.(v)(b) and D.(v)(b), your license agreement shall include the following notice, where the notice is displayed in a manner that anyone using the Software will see the notice:
Use of the Commercial Features for any commercial or production purpose requires a separate license from Oracle. “Commercial Features” means those features identified Table 1-1 (Commercial Features In Java SE Product Editions) of the Java SE documentation accessible at http://www.oracle.com/technetwork/java/javase/documentation/index.html
I. SOURCE CODE. Software may contain source code that, unless expressly licensed for other purposes, is provided solely for reference purposes pursuant to the terms of this Agreement. Source code may not be redistributed unless expressly provided for in this Agreement.
J. THIRD PARTY CODE. Additional copyright notices and license terms applicable to portions of the Software are set forth in the THIRDPARTYLICENSEREADME file accessible at http://www.oracle.com/technetwork/java/javase/documentation/index.html. In addition to any terms and conditions of any third party opensource/freeware license identified in the THIRDPARTYLICENSEREADME file, the disclaimer of warranty and limitation of liability provisions in paragraphs 4 and 5 of the Binary Code License Agreement shall apply to all Software in this distribution.
K. TERMINATION FOR INFRINGEMENT. Either party may terminate this Agreement immediately should any Software become, or in either party's opinion be likely to become, the subject of a claim of infringement of any intellectual property right.
L. INSTALLATION AND AUTO-UPDATE. The Software's installation and auto-update processes transmit a limited amount of data to Oracle (or its service provider) about those specific processes to help Oracle understand and optimize them. Oracle does not associate the data with personally identifiable information. You can find more information about the data Oracle collects as a result of your Software download at http://www.oracle.com/technetwork/java/javase/documentation/index.html.
For inquiries please contact: Oracle America, Inc., 500 Oracle Parkway,
Redwood Shores, California 94065, USA.
Last updated 02 April 2013

View File

@ -95,7 +95,7 @@ export -f on_chroot
update_issue() {
local GIT_HASH
GIT_HASH=$(git rev-parse HEAD)
echo -e "Raspberry Pi reference ${IMG_DATE}\nGenerated using pi-gen, https://github.com/RPi-Distro/pi-gen, ${GIT_HASH}, ${1}" > "${ROOTFS_DIR}/etc/rpi-issue"
echo -e "FRCVision ${IMG_DATE}\nGenerated using pi-gen, https://github.com/allwpilib/FRCVision-pi-gen, ${GIT_HASH}, ${1}" > "${ROOTFS_DIR}/etc/rpi-issue"
}
export -f update_issue

View File

@ -11,25 +11,34 @@ install -m 644 files/console-setup "${ROOTFS_DIR}/etc/default/"
install -m 755 files/rc.local "${ROOTFS_DIR}/etc/"
# enable pi camera
install -m 644 files/picamera.conf "${ROOTFS_DIR}/etc/modules-load.d/"
#
# Install OpenJDK
#
pushd "${STAGE_WORK_DIR}"
wget -nc -nv \
https://github.com/wpilibsuite/raspbian-openjdk/releases/download/v2019-11.0.1-1/jdk_11.0.1-strip.tar.gz
popd
# disable wireless
install -m 644 files/raspi-blacklist.conf "${ROOTFS_DIR}/etc/modprobe.d/"
install -m 644 files/frc.json "${ROOTFS_DIR}/boot/"
install -m 755 extfiles/setuidgids "${ROOTFS_DIR}/usr/local/bin/"
cat extfiles/jdk_11.0.1-strip.tar.gz | sh -c "mkdir -p ${ROOTFS_DIR}/usr/lib/jvm && cd ${ROOTFS_DIR}/usr/lib/jvm/ && tar xzf - --exclude=\*.diz --exclude=src.zip --transform=s/^jdk/jdk-11.0.1/"
mkdir -p "${ROOTFS_DIR}/usr/lib/jvm"
pushd "${ROOTFS_DIR}/usr/lib/jvm"
tar xzf "${STAGE_WORK_DIR}/jdk_11.0.1-strip.tar.gz" \
--exclude=\*.diz \
--exclude=src.zip \
--transform=s/^jdk/jdk-11.0.1/
popd
cp files/jdk-11.0.1.jinfo "${ROOTFS_DIR}/usr/lib/jvm/.jdk-11.0.1.jinfo"
install -m 644 files/ld.so.conf.d/*.conf "${ROOTFS_DIR}/etc/ld.so.conf.d/"
on_chroot << EOF
cd /usr/lib/jvm
grep /usr/lib/jvm .jdk-11.0.1.jinfo | awk '{ print "update-alternatives --install /usr/bin/" \$2 " " \$2 " " \$3 " 2"; }' | bash
update-java-alternatives -s jdk-11.0.1
ldconfig
EOF
#
# Set up for read-only file system
#
on_chroot << EOF
rm -rf /var/lib/dhcp/ /var/run /var/spool /var/lock
ln -s /tmp /var/lib/dhcp
@ -83,107 +92,4 @@ on_chroot << EOF
usermod --pass='*' root
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"
install -m 755 extfiles/multiCameraServer "${ROOTFS_DIR}/usr/local/frc/bin/"
install -m 644 extfiles/multiCameraServer.debug "${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/"
cat extfiles/pynetworktables.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/lib/python3.5/dist-packages/ && tar xzf -"
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/"
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"
cat extfiles/wpiutil-include.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include/ && tar xzf -"
cat extfiles/cscore-include.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include/ && tar xzf -"
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 -"
cat extfiles/hal-include.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include/ && tar xzf -"
cat extfiles/hal-gen-include.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include/ && tar xzf -"
cat extfiles/wpilibc-include.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include/ && tar xzf -"
cat extfiles/opencv-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
cd /home/pi/examples/
unzip java-multiCameraServer.zip
unzip cpp-multiCameraServer.zip
unzip python-multiCameraServer.zip
mkdir ../zips
mv *.zip ../zips/
chown -R 1000:1000 .
EOF
# add jar dependencies to java-multiCameraServer.zip
rm -rf /tmp/java-multiCameraServer
mkdir -p /tmp/java-multiCameraServer
sh -c "cd ${ROOTFS_DIR}/usr/local/frc/java && tar cf - *.jar" | sh -c "cd /tmp/java-multiCameraServer && tar xf -"
sh -c "cd /tmp && zip -r ${ROOTFS_DIR}/home/pi/zips/java-multiCameraServer.zip java-multiCameraServer"
rm -rf /tmp/java-multiCameraServer
# add header and library dependencies (excluding .debug files) to
# cpp-multiCameraServer.zip
# also update Makefile to use cross-compiler and point to local dependencies
rm -rf /tmp/cpp-multiCameraServer
mkdir -p /tmp/cpp-multiCameraServer
echo "CXX=arm-raspbian9-linux-gnueabihf-g++" > /tmp/cpp-multiCameraServer/Makefile
sed -e 's/\/usr\/local\/frc\///g' ${ROOTFS_DIR}/home/pi/examples/cpp-multiCameraServer/Makefile >> /tmp/cpp-multiCameraServer/Makefile
sh -c "cd ${ROOTFS_DIR}/usr/local/frc && tar cf - lib include" | sh -c "cd /tmp/cpp-multiCameraServer && tar xf -"
sh -c "cd /tmp && zip -r ${ROOTFS_DIR}/home/pi/zips/cpp-multiCameraServer.zip cpp-multiCameraServer --exclude \*.so.\*"
rm -rf /tmp/cpp-multiCameraServer
on_chroot << EOF
chown -R 1000:1000 /home/pi/zips
ldconfig
EOF
install -v -d "${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 644 extfiles/rpiConfigServer.debug "${ROOTFS_DIR}/usr/local/sbin/"
install -v -d "${ROOTFS_DIR}/service/camera"
install -v -d "${ROOTFS_DIR}/service/camera/log"
install -m 755 files/camera_run "${ROOTFS_DIR}/service/camera/run"
install -m 755 files/camera_log_run "${ROOTFS_DIR}/service/camera/log/run"
on_chroot << EOF
cd /service/camera && rm -f supervise && ln -s /tmp/camera-supervise supervise
cd /service/camera/log && rm -f supervise && ln -s /tmp/camera-log-supervise supervise
cd /service/configServer && rm -f supervise && ln -s /tmp/configServer-supervise supervise
cd /etc/service && rm -f camera && ln -s /service/camera .
cd /etc/service && rm -f configServer && ln -s /service/configServer .
EOF
install -m 755 -o 1000 -g 1000 files/runCamera "${ROOTFS_DIR}/home/pi/"
install -m 755 -o 1000 -g 1000 files/runInteractive "${ROOTFS_DIR}/home/pi/"
install -m 755 -o 1000 -g 1000 files/runService "${ROOTFS_DIR}/home/pi/"
rm -f "${ROOTFS_DIR}/etc/ssh/"ssh_host_*_key*

View File

@ -0,0 +1,8 @@
cmake
libpython3.5-minimal
libpython3.5-dev
python3.5-minimal
python3.5-dev
python3-numpy
python3-pybind11
python3-pip

View File

@ -0,0 +1,3 @@
libopenblas-dev liblapacke-dev
libavcodec-dev libavformat-dev libswscale-dev libavresample-dev
libgtk-3-dev

361
stage3/01-sys-tweaks/01-run.sh Executable file
View File

@ -0,0 +1,361 @@
#!/bin/bash
SUB_STAGE_DIR=${PWD}
#
# Fixup absolute links to relative in /usr/lib and libs in /etc/alternatives
#
pushd "${ROOTFS_DIR}"
find ./usr/lib -lname '/*' | \
while read l
do
echo ln -sf $(echo $(echo $l | sed 's|/[^/]*|/..|g')$(readlink $l) | sed 's/.....//') $l
done | sh
find ./etc/alternatives -lname '/*.so.*' | \
while read l
do
echo ln -sf $(echo $(echo $l | sed 's|/[^/]*|/..|g')$(readlink $l) | sed 's/.....//') $l
done | sh
popd
#
# Add symbolic link for liblapacke.h to /usr/include/openblas (required by
# OpenCV, see OpenCV#9953)
#
ln -sf ../lapacke.h "${ROOTFS_DIR}/usr/include/openblas/lapacke.h"
#
# Download sources
#
DOWNLOAD_DIR=${STAGE_WORK_DIR}/download
mkdir -p ${DOWNLOAD_DIR}
pushd ${DOWNLOAD_DIR}
# raspbian toolchain
wget -nc -nv \
https://github.com/wpilibsuite/raspbian-toolchain/releases/download/v1.3.0/Raspbian9-Linux-Toolchain-6.3.0.tar.gz
# opencv sources
wget -nc -nv \
https://github.com/opencv/opencv/archive/3.4.4.tar.gz
# allwpilib
wget -nc -nv -O allwpilib.tar.gz \
https://github.com/wpilibsuite/allwpilib/archive/05d6660a6be0d37064a9fab44232b8379884ccab.tar.gz
# pynetworktables
wget -nc -nv -O pynetworktables.tar.gz \
https://github.com/robotpy/pynetworktables/archive/8a4288452be26e26dccad32980f46000e8d97928.tar.gz
# robotpy-cscore
wget -nc -nv -O robotpy-cscore.tar.gz \
https://github.com/robotpy/robotpy-cscore/archive/2590274ca4e9ef852093152be34bde4e56d027f3.tar.gz
# pybind11 submodule of robotpy-cscore
wget -nc -nv -O pybind11.tar.gz \
https://github.com/pybind/pybind11/archive/v2.2.tar.gz
popd
#
# Extract and patch sources
#
EXTRACT_DIR=${ROOTFS_DIR}/usr/src
install -v -d ${EXTRACT_DIR}
pushd ${EXTRACT_DIR}
# opencv
tar xzf "${DOWNLOAD_DIR}/3.4.4.tar.gz"
pushd opencv-3.4.4
sed -i -e 's/javac sourcepath/javac target="1.8" source="1.8" sourcepath/' modules/java/jar/build.xml.in
# disable extraneous data warnings; these are common with USB cameras
sed -i -e '/JWRN_EXTRANEOUS_DATA/d' 3rdparty/libjpeg/jdmarker.c
sed -i -e '/JWRN_EXTRANEOUS_DATA/d' 3rdparty/libjpeg-turbo/src/jdmarker.c
popd
# allwpilib
tar xzf "${DOWNLOAD_DIR}/allwpilib.tar.gz"
mv allwpilib-* allwpilib
# pynetworktables
tar xzf "${DOWNLOAD_DIR}/pynetworktables.tar.gz"
mv pynetworktables-* pynetworktables
echo "__version__ = '2019.0.1'" > pynetworktables/ntcore/version.py
# robotpy-cscore
tar xzf "${DOWNLOAD_DIR}/robotpy-cscore.tar.gz"
mv robotpy-cscore-* robotpy-cscore
echo "__version__ = '2019.0.3'" > robotpy-cscore/cscore/version.py
pushd robotpy-cscore
rm -rf pybind11
tar xzf "${DOWNLOAD_DIR}/pybind11.tar.gz"
mv pybind11-* pybind11
popd
popd
#
# Build
#
# extract raspbian toolchain
pushd ${WORK_DIR}
tar xzf ${DOWNLOAD_DIR}/Raspbian9-Linux-Toolchain-*.tar.gz
export PATH=${WORK_DIR}/raspbian9/bin:${PATH}
popd
export PKG_CONFIG_DIR=
export PKG_CONFIG_LIBDIR=${ROOTFS_DIR}/usr/lib/arm-linux-gnueabihf/pkgconfig:${ROOTFS_DIR}/usr/lib/pkgconfig:${ROOTFS_DIR}/usr/share/pkgconfig
export PKG_CONFIG_SYSROOT_DIR=${ROOTFS_DIR}
pushd ${STAGE_WORK_DIR}
#
# Build OpenCV
#
build_opencv () {
rm -rf $1
mkdir -p $1
pushd $1
cmake "${EXTRACT_DIR}/opencv-3.4.4" \
-DWITH_CUDA=OFF \
-DWITH_IPP=OFF \
-DWITH_ITT=OFF \
-DWITH_OPENCL=OFF \
-DWITH_FFMPEG=OFF \
-DWITH_OPENEXR=OFF \
-DWITH_GSTREAMER=OFF \
-DWITH_LAPACK=ON \
-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=$3 \
-DBUILD_WITH_STATIC_CRT=OFF \
-DWITH_PROTOBUF=OFF \
-DWITH_DIRECTX=OFF \
-DENABLE_CXX11=ON \
-DBUILD_SHARED_LIBS=$3 \
-DCMAKE_BUILD_TYPE=$2 \
-DCMAKE_DEBUG_POSTFIX=d \
-DCMAKE_TOOLCHAIN_FILE=${SUB_STAGE_DIR}/files/arm-pi-gnueabihf.toolchain.cmake \
-DARM_LINUX_SYSROOT=${ROOTFS_DIR} \
-DCMAKE_MAKE_PROGRAM=make \
-DENABLE_NEON=ON \
-DENABLE_VFPV3=ON \
-DBUILD_opencv_python3=$3 \
-DPYTHON3_INCLUDE_PATH=${ROOTFS_DIR}/usr/include/python3.5m \
-DPYTHON3_NUMPY_INCLUDE_DIRS=${ROOTFS_DIR}/usr/include/python3.5m/numpy \
-DOPENCV_EXTRA_FLAGS_DEBUG=-Og \
-DCMAKE_MODULE_PATH=${SUB_STAGE_DIR}/files \
-DCMAKE_INSTALL_PREFIX=/usr/local/frc$4 \
|| exit 1
make -j3 || exit 1
make DESTDIR=${ROOTFS_DIR} install || exit 1
popd
}
build_opencv build/opencv-build-debug Debug ON "" || exit 1
build_opencv build/opencv-build RelWithDebugInfo ON "" || exit 1
build_opencv build/opencv-static RelWithDebugInfo OFF "-static" || exit 1
# fix up java install
cp -p ${ROOTFS_DIR}/usr/local/frc/share/OpenCV/java/libopencv_java344*.so "${ROOTFS_DIR}/usr/local/frc/lib/"
mkdir -p "${ROOTFS_DIR}/usr/local/frc/java"
cp -p "${ROOTFS_DIR}/usr/local/frc/share/OpenCV/java/opencv-344.jar" "${ROOTFS_DIR}/usr/local/frc/java/"
# the opencv build names the python .so with the build platform name
# instead of the target platform, so rename it
pushd "${ROOTFS_DIR}/usr/local/frc/python/cv2/python-3.5"
mv cv2.cpython-35m-*-gnu.so cv2.cpython-35m-arm-linux-gnueabihf.so
popd
# link python package to dist-packages
ln -sf /usr/local/frc/python/cv2 "${ROOTFS_DIR}/usr/local/lib/python3.5/dist-packages/cv2"
#
# Build wpiutil, cscore, ntcore, cameraserver
# always use the release version of opencv jar/jni
#
build_wpilib () {
rm -rf $1
mkdir -p $1
pushd $1
cmake "${EXTRACT_DIR}/allwpilib" \
-DWITHOUT_ALLWPILIB=OFF \
-DCMAKE_BUILD_TYPE=$2 \
-DCMAKE_TOOLCHAIN_FILE=${SUB_STAGE_DIR}/files/arm-pi-gnueabihf.toolchain.cmake \
-DCMAKE_MODULE_PATH=${SUB_STAGE_DIR}/files \
-DOPENCV_JAR_FILE=`ls ${ROOTFS_DIR}/usr/local/frc/java/opencv-344.jar` \
-DOPENCV_JNI_FILE=`ls ${ROOTFS_DIR}/usr/local/frc/lib/libopencv_java344.so` \
-DOpenCV_DIR=${ROOTFS_DIR}/usr/local/frc/share/OpenCV \
-DTHREADS_PTHREAD_ARG=-pthread \
-DCMAKE_INSTALL_PREFIX=/usr/local/frc \
|| exit 1
make -j3 || exit 1
popd
}
build_wpilib build/allwpilib-build-debug Debug || exit 1
build_wpilib build/allwpilib-build RelWithDebugInfo || exit 1
# static (for tools)
build_static_wpilib() {
rm -rf $1
mkdir -p $1
pushd $1
cmake "${EXTRACT_DIR}/allwpilib" \
-DCMAKE_BUILD_TYPE=RelWithDebugInfo \
-DCMAKE_TOOLCHAIN_FILE=${SUB_STAGE_DIR}/files/arm-pi-gnueabihf.toolchain.cmake \
-DCMAKE_MODULE_PATH=${SUB_STAGE_DIR}/files \
-DOpenCV_DIR=${ROOTFS_DIR}/usr/local/frc/share/OpenCV \
-DWITHOUT_JAVA=ON \
-DBUILD_SHARED_LIBS=OFF \
-DTHREADS_PTHREAD_ARG=-pthread \
-DCMAKE_INSTALL_PREFIX=/usr/local/frc-static \
|| exit 1
make -j3 || exit 1
popd
}
build_static_wpilib build/allwpilib-static || exit 1
# manually install, since cmake install is a bit weirdly set up
# built libs and headers
sh -c 'cd build/allwpilib-build/lib && tar cf - lib*' | \
sh -c "cd ${ROOTFS_DIR}/usr/local/frc/lib && tar xf -"
sh -c 'cd build/allwpilib-build-debug/lib && tar cf - lib*' | \
sh -c "cd ${ROOTFS_DIR}/usr/local/frc/lib && tar xf -"
sh -c 'cd build/allwpilib-static/lib && tar cf - lib*' | \
sh -c "cd ${ROOTFS_DIR}/usr/local/frc-static/lib && tar xf -"
sh -c 'cd build/allwpilib-build/hal/gen && tar cf - .' | \
sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
# built jars
sh -c 'cd build/allwpilib-build/jar && tar cf - *.jar' | \
sh -c "cd ${ROOTFS_DIR}/usr/local/frc/java && tar xf -"
# headers
sh -c "cd ${EXTRACT_DIR}/allwpilib/wpiutil/src/main/native/include && tar cf - uv.h uv wpi" | \
sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
sh -c "cd ${EXTRACT_DIR}/allwpilib/cscore/src/main/native/include && tar cf - ." | \
sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
sh -c "cd ${EXTRACT_DIR}/allwpilib/ntcore/src/main/native/include && tar cf - ." | \
sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
sh -c "cd ${EXTRACT_DIR}/allwpilib/cameraserver/src/main/native/include && tar cf - cameraserver vision" | \
sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
sh -c "cd ${EXTRACT_DIR}/allwpilib/hal/src/main/native/include && tar cf - ." | \
sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
sh -c "cd ${EXTRACT_DIR}/allwpilib/wpilibc/src/main/native/include && tar cf - frc" | \
sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
# executables (use static build to ensure they don't break)
sh -c 'cd build/allwpilib-static/bin && tar cf - cscore_* netconsoleTee*' | \
sh -c "cd ${ROOTFS_DIR}/usr/local/frc/bin && tar xf -"
# pkgconfig files
install -v -d "${ROOTFS_DIR}/usr/local/frc/lib/pkgconfig"
install -m 644 ${SUB_STAGE_DIR}/files/pkgconfig/* "${ROOTFS_DIR}/usr/local/frc/lib/pkgconfig"
for f in ${SUB_STAGE_DIR}/files/pkgconfig/*.pc; do
install -m 644 $f "${ROOTFS_DIR}/usr/local/frc-static/lib/pkgconfig"
sed -i -e 's,/usr/local/frc,/usr/local/frc-static,' "${ROOTFS_DIR}/usr/local/frc-static/lib/pkgconfig/`basename $f`"
done
# clean up frc-static
rm -rf "${ROOTFS_DIR}/usr/local/frc-static/bin"
rm -rf "${ROOTFS_DIR}/usr/local/frc-static/include"
ln -sf ../frc/include "${ROOTFS_DIR}/usr/local/frc-static/include"
rm -rf "${ROOTFS_DIR}/usr/local/frc-static/python"
# fix up frc-static opencv pkgconfig Libs.private
sed -i -e 's, -L/pi-gen[^ ]*,,g' "${ROOTFS_DIR}/usr/local/frc-static/lib/pkgconfig/opencv.pc"
popd
#
# Install pynetworktables
#
#sh -c "cd ${EXTRACT_DIR}/pynetworktables && tar cf - networktables ntcore" | sh -c "cd ${ROOTFS_DIR}/usr/local/lib/python3.5/dist-packages/ && tar xf -"
on_chroot << EOF
pip3 install setuptools
pushd /usr/src/pynetworktables
python3 setup.py build
python3 setup.py install
python3 setup.py clean
popd
EOF
#
# Build robotpy-cscore
# this build is pretty cpu-intensive, so we don't want to build it in a chroot,
# and setup.py doesn't support cross-builds, so build it manually
#
pushd ${EXTRACT_DIR}/robotpy-cscore
# install Python sources
sh -c 'tar cf - cscore' | \
sh -c "cd ${ROOTFS_DIR}/usr/local/lib/python3.5/dist-packages && tar xf -"
# build module
arm-raspbian9-linux-gnueabihf-g++ \
--sysroot=${ROOTFS_DIR} \
-g -O -Wall -fvisibility=hidden -shared -fPIC \
-o "${ROOTFS_DIR}/usr/local/lib/python3.5/dist-packages/cscore/_cscore.cpython-35m-arm-linux-gnueabihf.so" \
-Ipybind11/include \
`env PKG_CONFIG_LIBDIR=${PKG_CONFIG_LIBDIR}:${ROOTFS_DIR}/usr/local/frc/lib/pkgconfig pkg-config --cflags python3 cscore wpiutil` \
src/_cscore.cpp \
src/ndarray_converter.cpp \
`env PKG_CONFIG_LIBDIR=${PKG_CONFIG_LIBDIR}:${ROOTFS_DIR}/usr/local/frc/lib/pkgconfig pkg-config --libs cscore wpiutil` \
|| exit 1
popd
#
# Finish up
#
# Split debug info
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 $exe
done
popd
}
split_debug_exe "${ROOTFS_DIR}/usr/local/frc/bin"
split_debug_so "${ROOTFS_DIR}/usr/local/frc/lib"
# Add /usr/local/frc/lib to ldconfig
install -m 644 files/ld.so.conf.d/*.conf "${ROOTFS_DIR}/etc/ld.so.conf.d/"
# Add /usr/local/frc/lib/pkgconfig to pkg-config
install -m 644 files/profile.d/*.sh "${ROOTFS_DIR}/etc/profile.d/"
on_chroot << EOF
ldconfig
EOF

View File

@ -0,0 +1,9 @@
set(JNI_INCLUDE_DIRS "$ENV{ROOTFS_DIR}/usr/lib/jvm/jdk-11.0.1/include" "$ENV{ROOTFS_DIR}/usr/lib/jvm/jdk-11.0.1/include/linux")
set(JNI_LIBRARIES )
set(JNI_FOUND YES)
set(JAVA_AWT_LIBRARY )
set(JAVA_JVM_LIBRARY )
set(JAVA_INCLUDE_PATH "$ENV{ROOTFS_DIR}/usr/lib/jvm/jdk-11.0.1/include")
set(JAVA_INCLUDE_PATH2 "$ENV{ROOTFS_DIR}/usr/lib/jvm/jdk-11.0.1/include/linux")
set(JAVA_AWT_INCLUDE_PATH )

View File

@ -9,8 +9,9 @@ set(FLOAT_ABI_SUFFIX "hf")
set(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_SYSTEM_VERSION 1)
set(CMAKE_SYSTEM_PROCESSOR arm)
set(CMAKE_SYSROOT "$ENV{ROOTFS_DIR}")
include("${CMAKE_CURRENT_LIST_DIR}/opencv/platforms/linux/gnu.toolchain.cmake")
include("$ENV{ROOTFS_DIR}/usr/src/opencv-3.4.4/platforms/linux/gnu.toolchain.cmake")
if(NOT DEFINED CMAKE_C_COMPILER)
find_program(CMAKE_C_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-gcc${__GCC_VER_SUFFIX})
@ -37,6 +38,8 @@ if(NOT DEFINED ARM_LINUX_SYSROOT AND DEFINED GNU_MACHINE)
set(ARM_LINUX_SYSROOT /usr/${GNU_MACHINE}${FLOAT_ABI_SUFFIX})
endif()
set(ARM_LINKER_FLAGS "-Wl,-rpath -Wl,$ENV{ROOTFS_DIR}/opt/vc/lib")
if(NOT DEFINED CMAKE_CXX_FLAGS)
set(CMAKE_CXX_FLAGS "" CACHE INTERNAL "")
set(CMAKE_C_FLAGS "" CACHE INTERNAL "")
@ -44,8 +47,8 @@ if(NOT DEFINED CMAKE_CXX_FLAGS)
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_CXX_FLAGS "-isystem $ENV{ROOTFS_DIR}/usr/include/arm-linux-gnueabihf ${CMAKE_CXX_FLAGS} -Wno-psabi")
set(CMAKE_C_FLAGS "-isystem $ENV{ROOTFS_DIR}/usr/include/arm-linux-gnueabihf ${CMAKE_C_FLAGS} -Wno-psabi")
set(CMAKE_SHARED_LINKER_FLAGS "${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}")

View File

@ -0,0 +1,14 @@
# Package Information for pkg-config
prefix=/usr/local/frc
exec_prefix=${prefix}
includedir=${prefix}/include
libdir=${exec_prefix}/lib
Name: cameraserver
Description: WPILib Robotics Library CameraServer
Version: 2019.2.1
Requires: cscore wpiutil
Requires.private: ntcore
Libs: -L${libdir} -lcameraserver
Cflags: -I${includedir}

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@ -0,0 +1,14 @@
# Package Information for pkg-config
prefix=/usr/local/frc
exec_prefix=${prefix}
includedir=${prefix}/include
libdir=${exec_prefix}/lib
Name: cscore
Description: WPILib Robotics Library CameraServer Core
Version: 2019.2.1
Requires: wpiutil opencv
Libs: -L${libdir} -lcscore
Libs.private: -lpthread
Cflags: -I${includedir}

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@ -0,0 +1,14 @@
# Package Information for pkg-config
prefix=/usr/local/frc
exec_prefix=${prefix}
includedir=${prefix}/include
libdir=${exec_prefix}/lib
Name: ntcore
Description: WPILib Robotics Library NetworkTables
Version: 2019.2.1
Requires: wpiutil
Libs: -L${libdir} -lntcore
Libs.private: -lpthread
Cflags: -I${includedir}

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@ -0,0 +1,13 @@
# Package Information for pkg-config
prefix=/usr/local/frc
exec_prefix=${prefix}
includedir=${prefix}/include
libdir=${exec_prefix}/lib
Name: wpilibc
Description: WPILib Robotics Library
Version: 2019.2.1
Requires: cameraserver ntcore cscore wpiutil
Libs: -L${libdir} -lwpilibc -lwpiHal
Cflags: -I${includedir}

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@ -0,0 +1,13 @@
# Package Information for pkg-config
prefix=/usr/local/frc
exec_prefix=${prefix}
includedir=${prefix}/include
libdir=${exec_prefix}/lib
Name: wpiutil
Description: WPILib Robotics Library utilities
Version: 2019.2.1
Libs: -L${libdir} -lwpiutil
Libs.private: -lpthread
Cflags: -I${includedir}

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export PKG_CONFIG_PATH=/usr/local/frc/lib/pkgconfig

5
stage3/prerun.sh Executable file
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#!/bin/bash -e
if [ ! -d "${ROOTFS_DIR}" ]; then
copy_previous
fi

132
stage4/01-sys-tweaks/01-run.sh Executable file
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@ -0,0 +1,132 @@
#!/bin/bash -e
# enable pi camera
install -m 644 files/picamera.conf "${ROOTFS_DIR}/etc/modules-load.d/"
install -m 644 files/frc.json "${ROOTFS_DIR}/boot/"
#
# Install tools sources
# install to both image and work directory (to build)
#
sh -c "cd ${BASE_DIR}/deps/tools && tar cf - ." | \
sh -c "cd ${ROOTFS_DIR}/usr/src && tar xf -"
sh -c "cd ${BASE_DIR}/deps && tar cf - tools" | \
sh -c "cd ${STAGE_WORK_DIR} && tar xf -"
#
# Build tools
#
export PATH=${WORK_DIR}/raspbian9/bin:${PATH}
pushd "${STAGE_WORK_DIR}/tools"
export CXXFLAGS="--sysroot=${ROOTFS_DIR} -Wl,-rpath -Wl,${ROOTFS_DIR}/opt/vc/lib"
export PKG_CONFIG_DIR=
export PKG_CONFIG_LIBDIR=${ROOTFS_DIR}/usr/lib/arm-linux-gnueabihf/pkgconfig:${ROOTFS_DIR}/usr/lib/pkgconfig:${ROOTFS_DIR}/usr/share/pkgconfig:${ROOTFS_DIR}/usr/local/frc-static/lib/pkgconfig
export PKG_CONFIG_SYSROOT_DIR=${ROOTFS_DIR}
# setuidgids
pushd setuidgids
make CC=arm-raspbian9-linux-gnueabihf-gcc
install -m 755 setuidgids "${ROOTFS_DIR}/usr/local/bin/"
popd
# multiCameraServer
pushd multiCameraServer
make CXX=arm-raspbian9-linux-gnueabihf-g++
install -m 755 multiCameraServer "${ROOTFS_DIR}/usr/local/frc/bin/"
popd
# configServer
pushd configServer
make CXX=arm-raspbian9-linux-gnueabihf-g++
install -m 755 configServer "${ROOTFS_DIR}/usr/local/sbin/"
popd
popd
#
# Examples
# install to both image and work directory (to build zips)
#
export PKG_CONFIG_LIBDIR=${ROOTFS_DIR}/usr/lib/arm-linux-gnueabihf/pkgconfig:${ROOTFS_DIR}/usr/lib/pkgconfig:${ROOTFS_DIR}/usr/share/pkgconfig:${ROOTFS_DIR}/usr/local/frc/lib/pkgconfig
sh -c "cd ${BASE_DIR}/deps && tar cf - examples" | \
sh -c "cd ${ROOTFS_DIR}/home/pi && tar xf -"
chown -R 1000:1000 "${ROOTFS_DIR}/home/pi/examples"
rm -rf "${STAGE_WORK_DIR}/examples"
sh -c "cd ${BASE_DIR}/deps && tar cf - examples" | \
sh -c "cd ${STAGE_WORK_DIR} && tar xf -"
# build zips
pushd "${STAGE_WORK_DIR}/examples"
# add jar dependencies to java-multiCameraServer
sh -c "cd ${ROOTFS_DIR}/usr/local/frc/java && tar cf - *.jar" | \
sh -c "cd java-multiCameraServer && tar xf -"
# add header and library dependencies (excluding .debug files) to
# cpp-multiCameraServer
sh -c "cd ${ROOTFS_DIR}/usr/local/frc && tar cf - include" | \
sh -c "cd cpp-multiCameraServer && tar xf -"
mkdir -p cpp-multiCameraServer/lib
LIBS=`pkg-config --libs wpilibc | sed -e "s,-L[^ ]*,,g;s,-l\\([^ ]*\\),${ROOTFS_DIR}/usr/local/frc/lib/lib\\1.so,g"`
for lib in ${LIBS}; do
ln -sf ${lib} cpp-multiCameraServer/lib/
done
# update Makefile to use cross-compiler and point to local dependencies
cat > cpp-multiCameraServer/Makefile.new << EOF
CXX=arm-raspbian9-linux-gnueabihf-g++
DEPS_CFLAGS=`pkg-config --cflags wpilibc | sed -e "s,${ROOTFS_DIR}/usr/local/frc/,,g"`
DEPS_LIBS=`pkg-config --libs wpilibc | sed -e "s,${ROOTFS_DIR}/usr/local/frc/,,g"`
EOF
sed -e '/^DEPS_/d' cpp-multiCameraServer/Makefile >> cpp-multiCameraServer/Makefile.new
mv cpp-multiCameraServer/Makefile.new cpp-multiCameraServer/Makefile
zip -r java-multiCameraServer.zip java-multiCameraServer
zip -r cpp-multiCameraServer.zip cpp-multiCameraServer
zip -r python-multiCameraServer.zip python-multiCameraServer
# install zips
install -v -o 1000 -g 1000 -d "${ROOTFS_DIR}/home/pi/zips/"
install -v -o 1000 -g 1000 *.zip "${ROOTFS_DIR}/home/pi/zips/"
popd
#
# Set up services
#
# configServer
install -v -d "${ROOTFS_DIR}/service/configServer"
install -m 755 files/configServer_run "${ROOTFS_DIR}/service/configServer/run"
on_chroot << EOF
cd /service/configServer && rm -f supervise && ln -s /tmp/configServer-supervise supervise
cd /etc/service && rm -f configServer && ln -s /service/configServer .
EOF
# camera
install -v -d "${ROOTFS_DIR}/service/camera"
install -m 755 files/camera_run "${ROOTFS_DIR}/service/camera/run"
install -v -d "${ROOTFS_DIR}/service/camera/log"
install -m 755 files/camera_log_run "${ROOTFS_DIR}/service/camera/log/run"
on_chroot << EOF
cd /service/camera && rm -f supervise && ln -s /tmp/camera-supervise supervise
cd /service/camera/log && rm -f supervise && ln -s /tmp/camera-log-supervise supervise
cd /etc/service && rm -f camera && ln -s /service/camera .
EOF
#
# Set up pi user scripts
#
install -m 755 -o 1000 -g 1000 files/runCamera "${ROOTFS_DIR}/home/pi/"
install -m 755 -o 1000 -g 1000 files/runInteractive "${ROOTFS_DIR}/home/pi/"
install -m 755 -o 1000 -g 1000 files/runService "${ROOTFS_DIR}/home/pi/"

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@ -6,15 +6,8 @@ install -v -m 644 files/wait.conf "${ROOTFS_DIR}/etc/systemd/system/dhcpcd.serv
install -v -d "${ROOTFS_DIR}/etc/wpa_supplicant"
install -v -m 600 files/wpa_supplicant.conf "${ROOTFS_DIR}/etc/wpa_supplicant/"
on_chroot << EOF
rm -f /etc/resolv.conf
touch /tmp/dhcpcd.resolv.conf
ln -s /tmp/dhcpcd.resolve.conf /etc/resolv.conf
sed -i -e 's/\/run\//\/var\/run\//' /etc/systemd/system/dhcpcd5.service
mv /etc/dhcpcd.conf /boot/
chown root:root /boot/dhcpcd.conf
ln -s /boot/dhcpcd.conf /etc/dhcpcd.conf
EOF
# disable wireless
install -m 644 files/raspi-blacklist.conf "${ROOTFS_DIR}/etc/modprobe.d/"
if [ -v WPA_COUNTRY ]
then

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@ -1,4 +1,3 @@
IMG_SUFFIX="-lite"
if [ "${USE_QEMU}" = "1" ]; then
export IMG_SUFFIX="${IMG_SUFFIX}-qemu"
fi

5
stage4/prerun.sh Executable file
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@ -0,0 +1,5 @@
#!/bin/bash -e
if [ ! -d "${ROOTFS_DIR}" ]; then
copy_previous
fi