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burrow-pi-img/stage3/01-sys-tweaks/01-run.sh
Peter Johnson c85fd9f33c
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

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#!/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
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