Various updates, start including rpiConfigServer

* Provide shell script to copy in external dependencies * Install Python 3 and build-essential * Install OpenCV libraries including Python 3 bindings * Install rpiConfigServer as service * Improve service scripts with exec, netconsoleServer * Don't include JDK debug info (shrinks zip size a lot) * Include libraries, headers, and jars for wpiutil, cscore, ntcore
2018-11-30 02:40:39 -08:00 · 2018-11-30 02:40:39 -08:00 · dd04f57093
commit dd04f57093
parent d687acb744
10 changed files with 105 additions and 17 deletions
--- a/copyextfiles.sh
+++ b/copyextfiles.sh
@ -0,0 +1,50 @@
+#!/bin/sh
+
+mkdir -p stage2/01-sys-tweaks/extfiles
+
+#
+# openjdk
+#
+cp ../raspbian-openjdk/jdk_11.0.1-strip.tar.gz stage2/01-sys-tweaks/extfiles/
+
+#
+# thirdparty-opencv
+#
+
+sh -c 'cd ../thirdparty-opencv/buildShared/linux-raspbian/lib && tar czf - libopencv*' > stage2/01-sys-tweaks/extfiles/libopencv.tar.gz
+
+# the opencv build names the python .so with the build platform name instead
+# of the target platform, so rename it
+cp ../thirdparty-opencv/buildShared/linux-raspbian/lib/python3/cv2.*.so stage2/01-sys-tweaks/extfiles/cv2.cpython-35m-arm-linux-gnueabihf.so
+
+#
+# allwpilib
+#
+
+cp \
+  ../allwpilib/wpiutil/build/libs/wpiutil/shared/raspbian/release/libwpiutil.so* \
+  ../allwpilib/wpiutil/build/libs/wpiutil/shared/raspbian/debug/libwpiutild.so* \
+  ../allwpilib/wpiutil/build/libs/wpiutil.jar \
+  ../allwpilib/cscore/build/libs/cscore/shared/raspbian/release/libcscore.so* \
+  ../allwpilib/cscore/build/libs/cscore/shared/raspbian/debug/libcscored.so* \
+  ../allwpilib/cscore/build/libs/cscoreJNIShared/shared/raspbian/release/libcscorejni.so* \
+  ../allwpilib/cscore/build/libs/cscore.jar \
+  ../allwpilib/ntcore/build/libs/ntcore/shared/raspbian/release/libntcore.so* \
+  ../allwpilib/ntcore/build/libs/ntcore/shared/raspbian/debug/libntcored.so* \
+  ../allwpilib/ntcore/build/libs/ntcoreJNIShared/shared/raspbian/release/libntcorejni.so* \
+  ../allwpilib/ntcore/build/libs/ntcore.jar \
+  ../allwpilib/cameraserver/build/libs/cameraserver/shared/raspbian/release/libcameraserver.so* \
+  ../allwpilib/cameraserver/build/libs/cameraserver/shared/raspbian/debug/libcameraserverd.so* \
+  ../allwpilib/cameraserver/build/libs/cameraserver.jar \
+  stage2/01-sys-tweaks/extfiles/
+
+sh -c 'cd ../allwpilib/wpiutil/src/main/native/include && tar czf - uv.h uv wpi' > stage2/01-sys-tweaks/extfiles/wpiutil-include.tar.gz
+sh -c 'cd ../allwpilib/cscore/src/main/native/include && tar czf - .' > stage2/01-sys-tweaks/extfiles/cscore-include.tar.gz
+sh -c 'cd ../allwpilib/ntcore/src/main/native/include && tar czf - .' > stage2/01-sys-tweaks/extfiles/ntcore-include.tar.gz
+sh -c 'cd ../allwpilib/cameraserver/src/main/native/include && tar czf - cameraserver vision' > stage2/01-sys-tweaks/extfiles/cameraserver-include.tar.gz
+
+cp \
+  ../allwpilib/cameraserver/build/exe/multiCameraServer/raspbian/multiCameraServer \
+  ../allwpilib/wpiutil/build/exe/netconsoleServer/raspbian/netconsoleServer \
+  ../allwpilib/wpiutil/build/exe/rpiConfigServer/raspbian/rpiConfigServer \
+  stage2/01-sys-tweaks/extfiles/
--- a/stage2/01-sys-tweaks/00-packages
+++ b/stage2/01-sys-tweaks/00-packages
@ -1,11 +1,13 @@
 java-common
 ntp
 daemontools daemontools-run
+build-essential
 busybox-syslogd
 ssh less fbset sudo psmisc strace ed ncdu crda
 console-setup keyboard-configuration debconf-utils parted unzip
-python gdbserver pkg-config
-python-rpi.gpio v4l-utils
+python python3 gdbserver pkg-config
+python3-numpy
+python-rpi.gpio python3-rpi.gpio v4l-utils
 avahi-daemon
 lua5.1
 luajit
--- a/stage2/01-sys-tweaks/01-run.sh
+++ b/stage2/01-sys-tweaks/01-run.sh
@ -16,9 +16,9 @@ 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 "${ROOTFS_DIR}/home/pi/"
+install -m 755 -o 1000 -g 1000 extfiles/multiCameraServer "${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/"
+cat extfiles/jdk_11.0.1-strip.tar.gz | sh -c "mkdir -p ${ROOTFS_DIR}/usr/lib/jvm && cd ${ROOTFS_DIR}/usr/lib/jvm/ && tar xzf - --exclude=\*.diz --exclude=src.zip --transform=s/^jdk/jdk-11.0.1/"
 cp files/jdk-11.0.1.jinfo "${ROOTFS_DIR}/usr/lib/jvm/.jdk-11.0.1.jinfo"

 on_chroot << EOF
@ -33,7 +33,7 @@ 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/d \/var\/spool/#d \/var\/spool/' /usr/lib/tmpfiles.d/var.conf
 sed -i -e 's/\/var\/lib\/ntp/\/var\/tmp/' /etc/ntp.conf
 EOF

@ -42,8 +42,6 @@ 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 rpcbind
 systemctl enable ssh
 systemctl enable regenerate_ssh_host_keys
 EOF
@ -78,6 +76,41 @@ on_chroot << EOF
 usermod --pass='*' root
 EOF

+install -m 644 files/ld.so.conf.d/*.conf "${ROOTFS_DIR}/etc/ld.so.conf.d/"
+
+install -v -d "${ROOTFS_DIR}/usr/local/frc/lib"
+
+cat extfiles/libopencv.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/lib/ && tar xzf -"
+
+install -m 755 extfiles/cv2.*.so "${ROOTFS_DIR}/usr/local/lib/python3.5/dist-packages/"
+
+install -m 755 extfiles/libwpiutil*.so* "${ROOTFS_DIR}/usr/local/frc/lib/"
+install -m 755 extfiles/libcscore*.so* "${ROOTFS_DIR}/usr/local/frc/lib/"
+install -m 755 extfiles/libntcore*.so* "${ROOTFS_DIR}/usr/local/frc/lib/"
+install -m 755 extfiles/libcameraserver*.so* "${ROOTFS_DIR}/usr/local/frc/lib/"
+
+install -v -d "${ROOTFS_DIR}/usr/local/frc/include"
+
+cat extfiles/wpiutil-include.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include/ && tar xzf -"
+cat extfiles/cscore-include.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include/ && tar xzf -"
+cat extfiles/ntcore-include.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include/ && tar xzf -"
+cat extfiles/cameraserver-include.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include/ && tar xzf -"
+
+install -v -o 1000 -g 1000 -d "${ROOTFS_DIR}/home/pi/java-example/"
+install -m 644 -o 1000 -g 1000 extfiles/*.jar "${ROOTFS_DIR}/home/pi/java-example/"
+
+on_chroot << EOF
+ldconfig
+EOF
+
+install -v -d "${ROOTFS_DIR}/service/configServer"
+
+install -m 755 files/configServer_run "${ROOTFS_DIR}/service/configServer/run"
+
+install -m 755 extfiles/rpiConfigServer "${ROOTFS_DIR}/usr/local/sbin/configServer"
+
+install -m 755 extfiles/netconsoleServer "${ROOTFS_DIR}/usr/local/bin/"
+
 install -v -d "${ROOTFS_DIR}/service/camera"

 install -m 755 files/camera_run "${ROOTFS_DIR}/service/camera/run"
@ -85,6 +118,7 @@ install -m 755 files/camera_run "${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 .
+cd /etc/service && rm -f configServer && ln -s /service/configServer .
 EOF

 install -m 755 -o 1000 -g 1000 files/runCamera "${ROOTFS_DIR}/home/pi/"
--- a/stage2/01-sys-tweaks/files/camera_run
+++ b/stage2/01-sys-tweaks/files/camera_run
@ -1,4 +1,4 @@
 #!/bin/sh
 sleep 1
 cd /home/pi
-exec ./runCamera
+exec pgrphack setuidgid pi /usr/local/bin/netconsoleServer -u ./runCamera
--- a/stage2/01-sys-tweaks/files/configServer_run
+++ b/stage2/01-sys-tweaks/files/configServer_run
@ -0,0 +1,2 @@
+#!/bin/sh
+exec /usr/local/sbin/configServer
--- a/stage2/01-sys-tweaks/files/ld.so.conf.d/frc_libs.conf
+++ b/stage2/01-sys-tweaks/files/ld.so.conf.d/frc_libs.conf
@ -0,0 +1,2 @@
+/usr/local/frc/lib
+/usr/local/frc/third-party/lib
--- a/stage2/01-sys-tweaks/files/ld.so.conf.d/java_libs.conf
+++ b/stage2/01-sys-tweaks/files/ld.so.conf.d/java_libs.conf
@ -0,0 +1,3 @@
+/usr/lib/jvm/jdk-11.0.1/lib/jli
+/usr/lib/jvm/jdk-11.0.1/lib/minimal
+/usr/lib/jvm/jdk-11.0.1/lib
--- a/stage2/01-sys-tweaks/files/runCamera
+++ b/stage2/01-sys-tweaks/files/runCamera
@ -1,3 +1,4 @@
 #!/bin/sh
+echo "Waiting 5 seconds..."
 sleep 5
-./multiCameraServer
+exec ./multiCameraServer
--- a/stage2/01-sys-tweaks/files/runInteractive
+++ b/stage2/01-sys-tweaks/files/runInteractive
@ -1,10 +1,4 @@
 #!/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
--- a/stage2/02-net-tweaks/01-run.sh
+++ b/stage2/02-net-tweaks/01-run.sh
@ -10,7 +10,7 @@ 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
+sed -i -e 's/\/run\//\/var\/run\//' /etc/systemd/system/dhcpcd5.service
 mv /etc/dhcpcd.conf /boot/
 chown root:root /boot/dhcpcd.conf
 ln -s /boot/dhcpcd.conf /etc/dhcpcd.conf