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