133 lines
4.3 KiB
Bash
Executable File
133 lines
4.3 KiB
Bash
Executable File
#!/bin/bash -e
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# enable pi camera
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install -m 644 files/picamera.conf "${ROOTFS_DIR}/etc/modules-load.d/"
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install -m 644 files/frc.json "${ROOTFS_DIR}/boot/"
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#
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# Install tools sources
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# install to both image and work directory (to build)
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#
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sh -c "cd ${BASE_DIR}/deps/tools && tar cf - ." | \
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sh -c "cd ${ROOTFS_DIR}/usr/src && tar xf -"
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sh -c "cd ${BASE_DIR}/deps && tar cf - tools" | \
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sh -c "cd ${STAGE_WORK_DIR} && tar xf -"
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#
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# Build tools
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#
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export PATH=${WORK_DIR}/raspbian9/bin:${PATH}
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pushd "${STAGE_WORK_DIR}/tools"
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export CXXFLAGS="--sysroot=${ROOTFS_DIR} -Wl,-rpath -Wl,${ROOTFS_DIR}/opt/vc/lib"
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export PKG_CONFIG_DIR=
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export PKG_CONFIG_LIBDIR=${ROOTFS_DIR}/usr/lib/arm-linux-gnueabihf/pkgconfig:${ROOTFS_DIR}/usr/lib/pkgconfig:${ROOTFS_DIR}/usr/share/pkgconfig:${ROOTFS_DIR}/usr/local/frc-static/lib/pkgconfig
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export PKG_CONFIG_SYSROOT_DIR=${ROOTFS_DIR}
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# setuidgids
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pushd setuidgids
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make CC=arm-raspbian9-linux-gnueabihf-gcc
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install -m 755 setuidgids "${ROOTFS_DIR}/usr/local/bin/"
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popd
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# multiCameraServer
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pushd multiCameraServer
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make CXX=arm-raspbian9-linux-gnueabihf-g++
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install -m 755 multiCameraServer "${ROOTFS_DIR}/usr/local/frc/bin/"
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popd
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# configServer
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pushd configServer
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make CXX=arm-raspbian9-linux-gnueabihf-g++
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install -m 755 configServer "${ROOTFS_DIR}/usr/local/sbin/"
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popd
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popd
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#
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# Examples
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# install to both image and work directory (to build zips)
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#
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export PKG_CONFIG_LIBDIR=${ROOTFS_DIR}/usr/lib/arm-linux-gnueabihf/pkgconfig:${ROOTFS_DIR}/usr/lib/pkgconfig:${ROOTFS_DIR}/usr/share/pkgconfig:${ROOTFS_DIR}/usr/local/frc/lib/pkgconfig
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sh -c "cd ${BASE_DIR}/deps && tar cf - examples" | \
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sh -c "cd ${ROOTFS_DIR}/home/pi && tar xf -"
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chown -R 1000:1000 "${ROOTFS_DIR}/home/pi/examples"
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rm -rf "${STAGE_WORK_DIR}/examples"
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sh -c "cd ${BASE_DIR}/deps && tar cf - examples" | \
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sh -c "cd ${STAGE_WORK_DIR} && tar xf -"
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# build zips
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pushd "${STAGE_WORK_DIR}/examples"
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# add jar dependencies to java-multiCameraServer
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sh -c "cd ${ROOTFS_DIR}/usr/local/frc/java && tar cf - *.jar" | \
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sh -c "cd java-multiCameraServer && tar xf -"
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# add header and library dependencies (excluding .debug files) to
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# cpp-multiCameraServer
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sh -c "cd ${ROOTFS_DIR}/usr/local/frc && tar cf - include" | \
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sh -c "cd cpp-multiCameraServer && tar xf -"
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mkdir -p cpp-multiCameraServer/lib
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LIBS=`pkg-config --libs wpilibc | sed -e "s,-L[^ ]*,,g;s,-l\\([^ ]*\\),${ROOTFS_DIR}/usr/local/frc/lib/lib\\1.so,g"`
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for lib in ${LIBS}; do
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ln -sf ${lib} cpp-multiCameraServer/lib/
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done
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# update Makefile to use cross-compiler and point to local dependencies
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cat > cpp-multiCameraServer/Makefile.new << EOF
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CXX=arm-raspbian9-linux-gnueabihf-g++
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DEPS_CFLAGS=`pkg-config --cflags wpilibc | sed -e "s,${ROOTFS_DIR}/usr/local/frc/,,g"`
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DEPS_LIBS=`pkg-config --libs wpilibc | sed -e "s,${ROOTFS_DIR}/usr/local/frc/,,g"`
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EOF
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sed -e '/^DEPS_/d' cpp-multiCameraServer/Makefile >> cpp-multiCameraServer/Makefile.new
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mv cpp-multiCameraServer/Makefile.new cpp-multiCameraServer/Makefile
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zip -r java-multiCameraServer.zip java-multiCameraServer
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zip -r cpp-multiCameraServer.zip cpp-multiCameraServer
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zip -r python-multiCameraServer.zip python-multiCameraServer
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# install zips
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install -v -o 1000 -g 1000 -d "${ROOTFS_DIR}/home/pi/zips/"
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install -v -o 1000 -g 1000 *.zip "${ROOTFS_DIR}/home/pi/zips/"
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popd
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#
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# Set up services
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#
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# configServer
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install -v -d "${ROOTFS_DIR}/service/configServer"
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install -m 755 files/configServer_run "${ROOTFS_DIR}/service/configServer/run"
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on_chroot << EOF
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cd /service/configServer && rm -f supervise && ln -s /tmp/configServer-supervise supervise
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cd /etc/service && rm -f configServer && ln -s /service/configServer .
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EOF
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# camera
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install -v -d "${ROOTFS_DIR}/service/camera"
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install -m 755 files/camera_run "${ROOTFS_DIR}/service/camera/run"
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install -v -d "${ROOTFS_DIR}/service/camera/log"
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install -m 755 files/camera_log_run "${ROOTFS_DIR}/service/camera/log/run"
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on_chroot << EOF
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cd /service/camera && rm -f supervise && ln -s /tmp/camera-supervise supervise
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cd /service/camera/log && rm -f supervise && ln -s /tmp/camera-log-supervise supervise
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cd /etc/service && rm -f camera && ln -s /service/camera .
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EOF
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#
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# Set up pi user scripts
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#
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install -m 755 -o 1000 -g 1000 files/runCamera "${ROOTFS_DIR}/home/pi/"
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install -m 755 -o 1000 -g 1000 files/runInteractive "${ROOTFS_DIR}/home/pi/"
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install -m 755 -o 1000 -g 1000 files/runService "${ROOTFS_DIR}/home/pi/"
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