Initial FRCVision commit.

export-image/prerun.sh

@@ -48,6 +48,16 @@ ROOT_OFFSET=$(echo "$PARTED_OUT" | grep -e '^ 2'| xargs echo -n \
 ROOT_LENGTH=$(echo "$PARTED_OUT" | grep -e '^ 2'| xargs echo -n \
 | cut -d" " -f 4 | tr -d B)
 
+# Loopback crash workaround
+# https://github.com/RPi-Distro/pi-gen/issues/104
+#losetup -D
+#for i in $(seq 0 5); do
+#    dd if=/dev/zero of=virtualfs$i bs=1024 count=30720
+#    losetup /dev/loop$i virtualfs$i
+#    losetup -d /dev/loop$i
+#    rm virtualfs$i
+#done
+
 BOOT_DEV=$(losetup --show -f -o "${BOOT_OFFSET}" --sizelimit "${BOOT_LENGTH}" "${IMG_FILE}")
 ROOT_DEV=$(losetup --show -f -o "${ROOT_OFFSET}" --sizelimit "${ROOT_LENGTH}" "${IMG_FILE}")
 echo "/boot: offset $BOOT_OFFSET, length $BOOT_LENGTH"
@@ -59,11 +69,13 @@ for FEATURE in metadata_csum 64bit; do
 	    ROOT_FEATURES="^$FEATURE,$ROOT_FEATURES"
 	fi
 done
-mkdosfs -n boot -F 32 -v "$BOOT_DEV" > /dev/null
+mkdosfs -n boot -F 32 -I -v "$BOOT_DEV" > /dev/null
 mkfs.ext4 -L rootfs -O "$ROOT_FEATURES" "$ROOT_DEV" > /dev/null
 
 mount -v "$ROOT_DEV" "${ROOTFS_DIR}" -t ext4
 mkdir -p "${ROOTFS_DIR}/boot"
 mount -v "$BOOT_DEV" "${ROOTFS_DIR}/boot" -t vfat
 
-rsync -aHAXx --exclude var/cache/apt/archives "${EXPORT_ROOTFS_DIR}/" "${ROOTFS_DIR}/"
+rsync -aHAXx --exclude var/cache/apt/archives --exclude dev --exclude boot "${EXPORT_ROOTFS_DIR}/" "${ROOTFS_DIR}/"
+rsync -aHAx --exclude var/cache/apt/archives "${EXPORT_ROOTFS_DIR}/boot/" "${ROOTFS_DIR}/boot/"
+rsync -aHAx --exclude var/cache/apt/archives "${EXPORT_ROOTFS_DIR}/dev/" "${ROOTFS_DIR}/dev/"

stage1/01-sys-tweaks/files/fstab

@@ -1,3 +1,6 @@
 proc            /proc           proc    defaults          0       0
 BOOTDEV  /boot           vfat    defaults          0       2
 ROOTDEV  /               ext4    defaults,noatime  0       1
+tmpfs           /tmp            tmpfs   nosuid,nodev      0       0
+tmpfs           /var/log        tmpfs   nosuid,nodev      0       0
+tmpfs           /var/tmp        tmpfs   nosuid,nodev      0       0

stage2/01-sys-tweaks/00-packages

@@ -1,25 +1,25 @@
+java-common
+ntp
+daemontools daemontools-run
+busybox-syslogd
 ssh less fbset sudo psmisc strace ed ncdu crda
 console-setup keyboard-configuration debconf-utils parted unzip
-build-essential manpages-dev python bash-completion gdb pkg-config
+python gdbserver pkg-config
 python-rpi.gpio v4l-utils
 avahi-daemon
 lua5.1
 luajit
 hardlink ca-certificates curl
-fake-hwclock nfs-common usbutils
+fake-hwclock usbutils
-libraspberrypi-dev libraspberrypi-doc libfreetype6-dev
 dosfstools
 dphys-swapfile
 raspberrypi-sys-mods
-pi-bluetooth
 apt-listchanges
 usb-modeswitch
 apt-transport-https
 libpam-chksshpwd
 rpi-update
 libmtp-runtime
-rsync
 htop
-man-db
 policykit-1
 ssh-import-id

stage2/01-sys-tweaks/01-run.sh

@@ -11,11 +11,40 @@ install -m 644 files/console-setup   	"${ROOTFS_DIR}/etc/default/"
 
 install -m 755 files/rc.local		"${ROOTFS_DIR}/etc/"
 
+# 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 -o 1000 -g 1000 files/multiCameraServer "${ROOTFS_DIR}/home/pi/"
+
+cat files/jdk_11.0.1-strip.tar.gz | sh -c "mkdir -p ${ROOTFS_DIR}/usr/lib/jvm && cd ${ROOTFS_DIR}/usr/lib/jvm/ && tar xzf - --transform=s/^jdk/jdk-11.0.1/"
+cp files/jdk-11.0.1.jinfo "${ROOTFS_DIR}/usr/lib/jvm/.jdk-11.0.1.jinfo"
+
+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
+EOF
+
+on_chroot << EOF
+rm -rf /var/lib/dhcp/ /var/run /var/spool /var/lock
+ln -s /tmp /var/lib/dhcp
+ln -s /run /var/run
+ln -s /tmp /var/spool
+ln -s /tmp /var/lock
+sed -i -e 's/d \/var\/spool/#d \/var\/spool/' /usr/lib/tmpfiles/var.conf
+sed -i -e 's/\/var\/lib\/ntp/\/var\/tmp/' /etc/ntp.conf
+EOF
+
+cat files/bash.bashrc >> "${ROOTFS_DIR}/etc/bash.bashrc"
+
+cat files/bash.logout >> "${ROOTFS_DIR}/etc/bash.bash_logout"
+
 on_chroot << EOF
 systemctl disable hwclock.sh
-systemctl disable nfs-common
 systemctl disable rpcbind
-systemctl disable ssh
+systemctl enable ssh
 systemctl enable regenerate_ssh_host_keys
 EOF
 
@@ -49,4 +78,17 @@ on_chroot << EOF
 usermod --pass='*' root
 EOF
 
+install -v -d "${ROOTFS_DIR}/service/camera"
+
+install -m 755 files/camera_run "${ROOTFS_DIR}/service/camera/run"
+
+on_chroot << EOF
+cd /service/camera && rm -f supervise && ln -s /tmp/camera-supervise supervise
+cd /etc/service && rm -f camera && ln -s /service/camera .
+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*

stage2/01-sys-tweaks/files/bash.bashrc

@@ -0,0 +1,11 @@
+# set variable identifying the filesystem you work in (used in the prompt below)
+set_bash_prompt(){
+    fs_mode=$(mount | sed -n -e "s/^\/dev\/.* on \/ .*(\(r[w|o]\).*/\1/p")
+    PS1='\[\033[01;32m\]\u@\h${fs_mode:+($fs_mode)}\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '
+}
+
+alias ro='sudo mount -o remount,ro / ; sudo mount -o remount,ro /boot'
+alias rw='sudo mount -o remount,rw / ; sudo mount -o remount,rw /boot'
+
+# setup fancy prompt
+PROMPT_COMMAND=set_bash_prompt

stage2/01-sys-tweaks/files/bash.logout

@@ -0,0 +1,2 @@
+sudo mount -o remount,ro /
+sudo mount -o remount,ro /boot

stage2/01-sys-tweaks/files/camera_run

@@ -0,0 +1,4 @@
+#!/bin/sh
+sleep 1
+cd /home/pi
+exec ./runCamera

stage2/01-sys-tweaks/files/frc.json

@@ -0,0 +1,13 @@
+{
+    "team": 294,
+    "cameras": [
+	{
+	    "name": "rPi Camera 0",
+	    "path": "/dev/video0",
+	    "pixel format": "mjpeg",
+	    "width": 160,
+	    "height": 120,
+	    "fps": 30
+	}
+    ]
+}

stage2/01-sys-tweaks/files/jdk-11.0.1.jinfo

@@ -0,0 +1,36 @@
+name=jdk-11.0.1
+priority=900
+section=main
+
+hl rmid /usr/lib/jvm/jdk-11.0.1/bin/rmid
+hl java /usr/lib/jvm/jdk-11.0.1/bin/java
+hl keytool /usr/lib/jvm/jdk-11.0.1/bin/keytool
+hl jjs /usr/lib/jvm/jdk-11.0.1/bin/jjs
+hl pack200 /usr/lib/jvm/jdk-11.0.1/bin/pack200
+hl rmiregistry /usr/lib/jvm/jdk-11.0.1/bin/rmiregistry
+hl unpack200 /usr/lib/jvm/jdk-11.0.1/bin/unpack200
+hl jexec /usr/lib/jvm/jdk-11.0.1/lib/jexec
+jdkhl jlink /usr/lib/jvm/jdk-11.0.1/bin/jlink
+jdkhl jdeps /usr/lib/jvm/jdk-11.0.1/bin/jdeps
+jdkhl jinfo /usr/lib/jvm/jdk-11.0.1/bin/jinfo
+jdkhl jstat /usr/lib/jvm/jdk-11.0.1/bin/jstat
+jdkhl javadoc /usr/lib/jvm/jdk-11.0.1/bin/javadoc
+jdkhl jmod /usr/lib/jvm/jdk-11.0.1/bin/jmod
+jdkhl jhsdb /usr/lib/jvm/jdk-11.0.1/bin/jhsdb
+jdkhl jps /usr/lib/jvm/jdk-11.0.1/bin/jps
+jdkhl jstack /usr/lib/jvm/jdk-11.0.1/bin/jstack
+jdkhl jrunscript /usr/lib/jvm/jdk-11.0.1/bin/jrunscript
+jdkhl javac /usr/lib/jvm/jdk-11.0.1/bin/javac
+jdkhl javap /usr/lib/jvm/jdk-11.0.1/bin/javap
+jdkhl jar /usr/lib/jvm/jdk-11.0.1/bin/jar
+jdkhl jshell /usr/lib/jvm/jdk-11.0.1/bin/jshell
+jdkhl rmic /usr/lib/jvm/jdk-11.0.1/bin/rmic
+jdkhl jdeprscan /usr/lib/jvm/jdk-11.0.1/bin/jdeprscan
+jdkhl jimage /usr/lib/jvm/jdk-11.0.1/bin/jimage
+jdkhl jstatd /usr/lib/jvm/jdk-11.0.1/bin/jstatd
+jdkhl jmap /usr/lib/jvm/jdk-11.0.1/bin/jmap
+jdkhl jdb /usr/lib/jvm/jdk-11.0.1/bin/jdb
+jdkhl serialver /usr/lib/jvm/jdk-11.0.1/bin/serialver
+jdkhl jcmd /usr/lib/jvm/jdk-11.0.1/bin/jcmd
+jdkhl jarsigner /usr/lib/jvm/jdk-11.0.1/bin/jarsigner
+jdk jconsole /usr/lib/jvm/jdk-11.0.1/bin/jconsole

stage2/01-sys-tweaks/files/raspi-blacklist.conf

@@ -0,0 +1,6 @@
+#wifi
+blacklist brcmfmac
+blacklist brcmutil
+#bt
+blacklist btbcm
+blacklist hci_uart

stage2/01-sys-tweaks/files/resize2fs_once

@@ -16,6 +16,7 @@ case "$1" in
     resize2fs $ROOT_DEV &&
     update-rc.d resize2fs_once remove &&
     rm /etc/init.d/resize2fs_once &&
+    sed -i '/vfat\|ext4/s/defaults/defaults,ro/' /etc/fstab &&
     log_end_msg $?
     ;;
   *)

stage2/01-sys-tweaks/files/runCamera

@@ -0,0 +1,3 @@
+#!/bin/sh
+sleep 5
+./multiCameraServer

stage2/01-sys-tweaks/files/runInteractive

@@ -0,0 +1,10 @@
+#!/bin/bash
+SVCPID=`ps ax | grep runCamera | grep -v grep | cut -c -6 | sed -e 's/ *//g'`
+sudo svc -d /service/camera
+if [[ ! -z $SVCPID ]]; then
+        sudo kill $SVCPID
+        sleep 1
+        sudo kill -9 $SVCPID
+        sleep 1
+fi
+exec ./runCamera

stage2/01-sys-tweaks/files/runService

@@ -0,0 +1,2 @@
+#!/bin/sh
+sudo svc -u /service/camera

stage2/02-net-tweaks/01-run.sh

@@ -6,3 +6,13 @@ 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.control
+mv /etc/dhcpcd.conf /boot/
+chown root:root /boot/dhcpcd.conf
+ln -s /boot/dhcpcd.conf /etc/dhcpcd.conf
+EOF
+