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
@@ -0,0 +1,9 @@
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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")
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set(JNI_LIBRARIES )
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set(JNI_FOUND YES)
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set(JAVA_AWT_LIBRARY )
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set(JAVA_JVM_LIBRARY )
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set(JAVA_INCLUDE_PATH "$ENV{ROOTFS_DIR}/usr/lib/jvm/jdk-11.0.1/include")
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set(JAVA_INCLUDE_PATH2 "$ENV{ROOTFS_DIR}/usr/lib/jvm/jdk-11.0.1/include/linux")
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set(JAVA_AWT_INCLUDE_PATH )
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@@ -0,0 +1,80 @@
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if(COMMAND toolchain_save_config)
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return() # prevent recursive call
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endif()
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set(GCC_COMPILER_VERSION "" CACHE STRING "GCC Compiler version")
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set(GNU_MACHINE "arm-raspbian9-linux-gnueabi" CACHE STRING "GNU compiler triple")
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set(SOFTFP no)
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set(FLOAT_ABI_SUFFIX "hf")
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set(CMAKE_SYSTEM_NAME Linux)
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set(CMAKE_SYSTEM_VERSION 1)
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set(CMAKE_SYSTEM_PROCESSOR arm)
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set(CMAKE_SYSROOT "$ENV{ROOTFS_DIR}")
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include("$ENV{ROOTFS_DIR}/usr/src/opencv-3.4.4/platforms/linux/gnu.toolchain.cmake")
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if(NOT DEFINED CMAKE_C_COMPILER)
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find_program(CMAKE_C_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-gcc${__GCC_VER_SUFFIX})
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else()
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#message(WARNING "CMAKE_C_COMPILER=${CMAKE_C_COMPILER} is defined")
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endif()
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if(NOT DEFINED CMAKE_CXX_COMPILER)
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find_program(CMAKE_CXX_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-g++${__GCC_VER_SUFFIX})
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else()
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#message(WARNING "CMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} is defined")
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endif()
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if(NOT DEFINED CMAKE_LINKER)
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find_program(CMAKE_LINKER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld)
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else()
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#message(WARNING "CMAKE_LINKER=${CMAKE_LINKER} is defined")
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endif()
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if(NOT DEFINED CMAKE_AR)
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find_program(CMAKE_AR NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar)
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else()
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#message(WARNING "CMAKE_AR=${CMAKE_AR} is defined")
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endif()
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if(NOT DEFINED ARM_LINUX_SYSROOT AND DEFINED GNU_MACHINE)
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set(ARM_LINUX_SYSROOT /usr/${GNU_MACHINE}${FLOAT_ABI_SUFFIX})
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endif()
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set(ARM_LINKER_FLAGS "-Wl,-rpath -Wl,$ENV{ROOTFS_DIR}/opt/vc/lib")
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if(NOT DEFINED CMAKE_CXX_FLAGS)
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set(CMAKE_CXX_FLAGS "" CACHE INTERNAL "")
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set(CMAKE_C_FLAGS "" CACHE INTERNAL "")
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set(CMAKE_SHARED_LINKER_FLAGS "" CACHE INTERNAL "")
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set(CMAKE_MODULE_LINKER_FLAGS "" CACHE INTERNAL "")
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set(CMAKE_EXE_LINKER_FLAGS "" CACHE INTERNAL "")
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set(CMAKE_CXX_FLAGS "-isystem $ENV{ROOTFS_DIR}/usr/include/arm-linux-gnueabihf ${CMAKE_CXX_FLAGS} -Wno-psabi")
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set(CMAKE_C_FLAGS "-isystem $ENV{ROOTFS_DIR}/usr/include/arm-linux-gnueabihf ${CMAKE_C_FLAGS} -Wno-psabi")
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set(CMAKE_SHARED_LINKER_FLAGS "${ARM_LINKER_FLAGS} -rdynamic ${CMAKE_SHARED_LINKER_FLAGS}")
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set(CMAKE_MODULE_LINKER_FLAGS "${ARM_LINKER_FLAGS} -rdynamic ${CMAKE_MODULE_LINKER_FLAGS}")
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set(CMAKE_EXE_LINKER_FLAGS "${ARM_LINKER_FLAGS} -rdynamic ${CMAKE_EXE_LINKER_FLAGS}")
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else()
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#message(WARNING "CMAKE_CXX_FLAGS='${CMAKE_CXX_FLAGS}' is defined")
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endif()
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if(USE_NEON)
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message(WARNING "You use obsolete variable USE_NEON to enable NEON instruction set. Use -DENABLE_NEON=ON instead." )
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set(ENABLE_NEON TRUE)
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elseif(USE_VFPV3)
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message(WARNING "You use obsolete variable USE_VFPV3 to enable VFPV3 instruction set. Use -DENABLE_VFPV3=ON instead." )
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set(ENABLE_VFPV3 TRUE)
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endif()
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set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${ARM_LINUX_SYSROOT})
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if(EXISTS ${CUDA_TOOLKIT_ROOT_DIR})
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set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${CUDA_TOOLKIT_ROOT_DIR})
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endif()
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set(TOOLCHAIN_CONFIG_VARS ${TOOLCHAIN_CONFIG_VARS}
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ARM_LINUX_SYSROOT
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ENABLE_NEON
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ENABLE_VFPV3
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CUDA_TOOLKIT_ROOT_DIR
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)
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toolchain_save_config()
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@@ -0,0 +1,2 @@
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/usr/local/frc/lib
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/usr/local/frc/third-party/lib
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@@ -0,0 +1,14 @@
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# Package Information for pkg-config
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prefix=/usr/local/frc
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exec_prefix=${prefix}
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includedir=${prefix}/include
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libdir=${exec_prefix}/lib
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Name: cameraserver
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Description: WPILib Robotics Library CameraServer
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Version: 2019.2.1
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Requires: cscore wpiutil
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Requires.private: ntcore
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Libs: -L${libdir} -lcameraserver
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Cflags: -I${includedir}
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@@ -0,0 +1,14 @@
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# Package Information for pkg-config
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prefix=/usr/local/frc
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exec_prefix=${prefix}
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includedir=${prefix}/include
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libdir=${exec_prefix}/lib
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Name: cscore
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Description: WPILib Robotics Library CameraServer Core
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Version: 2019.2.1
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Requires: wpiutil opencv
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Libs: -L${libdir} -lcscore
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Libs.private: -lpthread
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Cflags: -I${includedir}
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@@ -0,0 +1,14 @@
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# Package Information for pkg-config
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prefix=/usr/local/frc
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exec_prefix=${prefix}
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includedir=${prefix}/include
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libdir=${exec_prefix}/lib
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Name: ntcore
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Description: WPILib Robotics Library NetworkTables
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Version: 2019.2.1
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Requires: wpiutil
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Libs: -L${libdir} -lntcore
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Libs.private: -lpthread
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Cflags: -I${includedir}
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@@ -0,0 +1,13 @@
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# Package Information for pkg-config
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prefix=/usr/local/frc
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exec_prefix=${prefix}
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includedir=${prefix}/include
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libdir=${exec_prefix}/lib
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Name: wpilibc
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Description: WPILib Robotics Library
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Version: 2019.2.1
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Requires: cameraserver ntcore cscore wpiutil
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Libs: -L${libdir} -lwpilibc -lwpiHal
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Cflags: -I${includedir}
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@@ -0,0 +1,13 @@
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# Package Information for pkg-config
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prefix=/usr/local/frc
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exec_prefix=${prefix}
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includedir=${prefix}/include
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libdir=${exec_prefix}/lib
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Name: wpiutil
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Description: WPILib Robotics Library utilities
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Version: 2019.2.1
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Libs: -L${libdir} -lwpiutil
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Libs.private: -lpthread
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Cflags: -I${includedir}
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@@ -0,0 +1 @@
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export PKG_CONFIG_PATH=/usr/local/frc/lib/pkgconfig
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