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
Vendored
-30
@@ -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
|
||||
Vendored
-55
@@ -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 "${PWD}/jdk/include/linux")
|
||||
set(JAVA_AWT_INCLUDE_PATH )
|
||||
EOF
|
||||
|
||||
popd
|
||||
Vendored
-138
@@ -1,138 +0,0 @@
|
||||
#!/bin/bash
|
||||
|
||||
export PATH=${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
|
||||
Vendored
-80
@@ -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*' > ${DEST}/wpilib-bin.tar.gz
|
||||
Vendored
-1
Submodule deps/allwpilib deleted from 05d6660a6b
-77
@@ -1,77 +0,0 @@
|
||||
if(COMMAND toolchain_save_config)
|
||||
return() # prevent recursive call
|
||||
endif()
|
||||
|
||||
set(GCC_COMPILER_VERSION "" CACHE STRING "GCC Compiler version")
|
||||
set(GNU_MACHINE "arm-raspbian9-linux-gnueabi" CACHE STRING "GNU compiler triple")
|
||||
set(SOFTFP no)
|
||||
set(FLOAT_ABI_SUFFIX "hf")
|
||||
set(CMAKE_SYSTEM_NAME Linux)
|
||||
set(CMAKE_SYSTEM_VERSION 1)
|
||||
set(CMAKE_SYSTEM_PROCESSOR arm)
|
||||
|
||||
include("${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 ${TOOLCHAIN_CONFIG_VARS}
|
||||
ARM_LINUX_SYSROOT
|
||||
ENABLE_NEON
|
||||
ENABLE_VFPV3
|
||||
CUDA_TOOLKIT_ROOT_DIR
|
||||
)
|
||||
toolchain_save_config()
|
||||
|
||||
+7
-26
@@ -1,3 +1,5 @@
|
||||
DEPS_CFLAGS?=$(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} $<
|
||||
|
||||
Vendored
-1
Submodule deps/pynetworktables deleted from 8a4288452b
Vendored
-1
Submodule deps/robotpy-cscore deleted from 2590274ca4
Vendored
-113
@@ -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 $@ $<
|
||||
|
||||
Vendored
+54
@@ -0,0 +1,54 @@
|
||||
DEPS_CFLAGS?=$(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 $@ $<
|
||||
|
||||
Vendored
Vendored
Vendored
Vendored
Vendored
Vendored
Vendored
+12
@@ -0,0 +1,12 @@
|
||||
DEPS_CFLAGS?=$(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}
|
||||
Vendored
+9
@@ -0,0 +1,9 @@
|
||||
.PHONY: all clean
|
||||
|
||||
all: setuidgids
|
||||
|
||||
clean:
|
||||
rm -f setuidgids
|
||||
|
||||
setuidgids: src/setuidgids.c
|
||||
${CC} -O -Wall -D_GNU_SOURCE -o $@ $^
|
||||
Reference in New Issue
Block a user