c85fd9f33c
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.
102 lines
2.2 KiB
Plaintext
102 lines
2.2 KiB
Plaintext
log (){
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date +"[%T] $*" | tee -a "${LOG_FILE}"
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}
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export -f log
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bootstrap(){
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local ARCH
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ARCH=$(dpkg --print-architecture)
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export http_proxy=${APT_PROXY}
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if [ "$ARCH" != "armhf" ]; then
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local BOOTSTRAP_CMD=qemu-debootstrap
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else
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local BOOTSTRAP_CMD=debootstrap
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fi
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capsh --drop=cap_setfcap -- "${BOOTSTRAP_CMD}" --components=main,contrib,non-free \
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--arch armhf \
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--keyring "${STAGE_DIR}/files/raspberrypi.gpg" \
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"$1" "$2" "$3" || true
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if [ -d "$2/debootstrap" ]; then
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rmdir "$2/debootstrap"
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fi
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}
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export -f bootstrap
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copy_previous(){
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if [ ! -d "${PREV_ROOTFS_DIR}" ]; then
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echo "Previous stage rootfs not found"
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false
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fi
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mkdir -p "${ROOTFS_DIR}"
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rsync -aHAXx --exclude var/cache/apt/archives "${PREV_ROOTFS_DIR}/" "${ROOTFS_DIR}/"
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}
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export -f copy_previous
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unmount(){
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if [ -z "$1" ]; then
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DIR=$PWD
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else
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DIR=$1
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fi
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while mount | grep -q "$DIR"; do
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local LOCS
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LOCS=$(mount | grep "$DIR" | cut -f 3 -d ' ' | sort -r)
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for loc in $LOCS; do
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umount "$loc"
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done
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done
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}
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export -f unmount
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unmount_image(){
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sync
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sleep 1
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local LOOP_DEVICES
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LOOP_DEVICES=$(losetup -j "${1}" | cut -f1 -d':')
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for LOOP_DEV in ${LOOP_DEVICES}; do
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if [ -n "${LOOP_DEV}" ]; then
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local MOUNTED_DIR
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MOUNTED_DIR=$(mount | grep "$(basename "${LOOP_DEV}")" | head -n 1 | cut -f 3 -d ' ')
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if [ -n "${MOUNTED_DIR}" ] && [ "${MOUNTED_DIR}" != "/" ]; then
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unmount "$(dirname "${MOUNTED_DIR}")"
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fi
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sleep 1
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losetup -d "${LOOP_DEV}"
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fi
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done
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}
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export -f unmount_image
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on_chroot() {
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if ! mount | grep -q "$(realpath "${ROOTFS_DIR}"/proc)"; then
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mount -t proc proc "${ROOTFS_DIR}/proc"
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fi
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if ! mount | grep -q "$(realpath "${ROOTFS_DIR}"/dev)"; then
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mount --bind /dev "${ROOTFS_DIR}/dev"
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fi
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if ! mount | grep -q "$(realpath "${ROOTFS_DIR}"/dev/pts)"; then
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mount --bind /dev/pts "${ROOTFS_DIR}/dev/pts"
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fi
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if ! mount | grep -q "$(realpath "${ROOTFS_DIR}"/sys)"; then
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mount --bind /sys "${ROOTFS_DIR}/sys"
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fi
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capsh --drop=cap_setfcap "--chroot=${ROOTFS_DIR}/" -- -e "$@"
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}
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export -f on_chroot
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update_issue() {
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local GIT_HASH
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GIT_HASH=$(git rev-parse HEAD)
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echo -e "FRCVision ${IMG_DATE}\nGenerated using pi-gen, https://github.com/allwpilib/FRCVision-pi-gen, ${GIT_HASH}, ${1}" > "${ROOTFS_DIR}/etc/rpi-issue"
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}
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export -f update_issue
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