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.
2019-02-02 23:37:18 -08:00
parent 02d5c468a2
commit c85fd9f33c
75 changed files with 775 additions and 721 deletions
@@ -0,0 +1,8 @@
+cmake
+libpython3.5-minimal
+libpython3.5-dev
+python3.5-minimal
+python3.5-dev
+python3-numpy
+python3-pybind11
+python3-pip
@@ -0,0 +1,3 @@
+libopenblas-dev liblapacke-dev
+libavcodec-dev libavformat-dev libswscale-dev libavresample-dev
+libgtk-3-dev
@@ -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 "${ROOTFS_DIR}/etc/profile.d/"
+
+on_chroot << EOF
+ldconfig
+EOF
@@ -0,0 +1,9 @@
+set(JNI_INCLUDE_DIRS "$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 "$ENV{ROOTFS_DIR}/usr/lib/jvm/jdk-11.0.1/include/linux")
+set(JAVA_AWT_INCLUDE_PATH )
+
@@ -0,0 +1,80 @@
+if(COMMAND toolchain_save_config)
+  return() # prevent recursive call
+endif()
+
+set(GCC_COMPILER_VERSION "" CACHE STRING "GCC Compiler version")
+set(GNU_MACHINE "arm-raspbian9-linux-gnueabi" CACHE STRING "GNU compiler triple")
+set(SOFTFP no)
+set(FLOAT_ABI_SUFFIX "hf")
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_VERSION 1)
+set(CMAKE_SYSTEM_PROCESSOR arm)
+set(CMAKE_SYSROOT "$ENV{ROOTFS_DIR}")
+
+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${__GCC_VER_SUFFIX})
+else()
+  #message(WARNING "CMAKE_C_COMPILER=${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}${FLOAT_ABI_SUFFIX})
+endif()
+
+set(ARM_LINKER_FLAGS "-Wl,-rpath -Wl,$ENV{ROOTFS_DIR}/opt/vc/lib")
+
+if(NOT DEFINED CMAKE_CXX_FLAGS)
+  set(CMAKE_CXX_FLAGS           "" CACHE INTERNAL "")
+  set(CMAKE_C_FLAGS             "" CACHE INTERNAL "")
+  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           "-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 ${CMAKE_EXE_LINKER_FLAGS}")
+else()
+  #message(WARNING "CMAKE_CXX_FLAGS='${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 ${TOOLCHAIN_CONFIG_VARS}
+    ARM_LINUX_SYSROOT
+    ENABLE_NEON
+    ENABLE_VFPV3
+    CUDA_TOOLKIT_ROOT_DIR
+)
+toolchain_save_config()
+
@@ -0,0 +1,2 @@
+/usr/local/frc/lib
+/usr/local/frc/third-party/lib
@@ -0,0 +1,14 @@
+# Package Information for pkg-config
+
+prefix=/usr/local/frc
+exec_prefix=${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}
@@ -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${includedir}
@@ -0,0 +1,14 @@
+# Package Information for pkg-config
+
+prefix=/usr/local/frc
+exec_prefix=${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}
@@ -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${includedir}
@@ -0,0 +1,13 @@
+# Package Information for pkg-config
+
+prefix=/usr/local/frc
+exec_prefix=${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}
@@ -0,0 +1 @@
+export PKG_CONFIG_PATH=/usr/local/frc/lib/pkgconfig
				`@@ -0,0 +1 @@`
				`export PKG_CONFIG_PATH=/usr/local/frc/lib/pkgconfig`