Merge branch 'main' into cpu-governor

Author: thatcomputerguy0101

.github/workflows/main.yml

@@ -12,41 +12,8 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  rubik:
-    env:
-      script: "./tmp/build/install_rubikpi3.sh"
-      base_image: "https://people.canonical.com/~platform/images/qualcomm-iot/rubikpi3/ubuntu-server-24.04/x00/ubuntu-24.04-preinstalled-server-arm64+rubikpi3-20250912-127.yaml"
-    
-    runs-on: ubuntu-24.04-arm
-                        
-    name: "Build for RubikPi3"
-
-    steps:
-    - uses: actions/checkout@v4.1.7
-      with:
-        fetch-depth: 0
-    - name: Fetch tags
-      run: git fetch --tags --force
-
-    - name: Build rubikpi3 with mounting
-      run: |
-        chmod +x ./mount_rubikpi3.sh
-        ./mount_rubikpi3.sh ${{ env.base_image }} ${{ env.script }} ${{ github.ref_name }}
-
-    - name: Compress built image
-      run: |
-        tar -I 'xz -T0' -cf photonvision_rubikpi3.tar.xz photonvision_rubikpi3 --checkpoint=10000 --checkpoint-action=echo='%T'
-
-    - uses: actions/upload-artifact@v4.3.4
-      with:
-        name: photonvision_rubikpi3.tar.xz
-        path: photonvision_rubikpi3.tar.xz
-        if-no-files-found: error
-        retention-days: 1
-
   build:
-    runs-on: ubuntu-24.04
-
+    runs-on: ubuntu-24.04-arm
     strategy:
       fail-fast: false
       matrix:
@@ -93,44 +60,97 @@ jobs:
           - name: rock5c
             script: ./install_opi5.sh
             base_image: https://github.com/Joshua-Riek/ubuntu-rockchip/releases/download/v2.4.0/ubuntu-24.04-preinstalled-server-arm64-rock-5c.img.xz
+          - name: rubikpi3
+            script: ./install_rubikpi3.sh
+            base_image: https://people.canonical.com/~platform/images/qualcomm-iot/rubikpi3/ubuntu-server-24.04/x01/ubuntu-24.04-preinstalled-server-arm64+rubikpi3-20250926-145.yaml
+            root_location: "offset=569376768"
+            shrink_image: "no"
 
     name: "Build for ${{ matrix.name }}"
 
     steps:
-    - uses: actions/checkout@v4.1.7
+    - uses: actions/checkout@v4
       with:
         fetch-depth: 0
     - name: Fetch tags
       run: git fetch --tags --force
 
-    - uses: pguyot/arm-runner-action@HEAD
+    - name: Generate version file
+      run: |
+
+        # Build the final JSON object
+        json_string=$(jq -n \
+          --arg date "$(date -u +"%Y-%m-%dT%H:%M:%SZ")" \
+          --arg commit_sha "${GITHUB_SHA}" \
+          --arg commit_tag "$(git describe --tags --abbrev=0 2>/dev/null || echo "untagged")" \
+          --arg image_name "${{ matrix.name }}" \
+          --arg image_source "${{ matrix.base_image }}" \
+          '{build_date: $date, commit_sha: $commit_sha, commit_tag: $commit_tag, image_name: $image_name, image_source: $image_source}')
+
+        echo "$json_string"
+
+        echo "$json_string" > image-version.json
+
+    - name: Install dependencies and build image
+      uses: photonvision/photon-image-runner@HEAD
       id: install_deps
       with:
-        image_additional_mb: 1500
-        bind_mount_repository: true
-        base_image: ${{ matrix.base_image }}
+        minimum_free_mb: 2000
+        image_url: ${{ matrix.base_image }}
+        root_location: ${{ matrix.root_location || 'partition=2' }}
+        shrink_image: ${{ matrix.shrink_image || 'yes' }}
         commands: |
-          chmod +x ${{matrix.script}}
-          ${{ matrix.script }}
-          chmod +x ./install_common.sh
-          ./install_common.sh
-          mkdir -p /opt/photonvision/
-          echo "${{ github.ref_name }};${{ matrix.name }}" > /opt/photonvision/image-version
+            echo "Running ${{ matrix.script }}"
+            chmod +x "${{ matrix.script }}"
+            "./${{ matrix.script }}"
+            echo "Running install_common.sh"
+            chmod +x "./install_common.sh"
+            "./install_common.sh"
 
-    - name: Compress built image
+    - name: Compress built image 
+      # Compress the standard images
+      if: ${{ ! startsWith(matrix.name, 'rubik') }}
       run: |
-        mv ${{ steps.install_deps.outputs.image }} photonvision_${{ matrix.name }}.img
+        sudo mv ${{ steps.install_deps.outputs.image }} photonvision_${{ matrix.name }}.img
         sudo xz -T 0 -v photonvision_${{ matrix.name }}.img
+        echo "artifact=photonvision_${{ matrix.name }}.img.xz" >> "$GITHUB_ENV"
+
+    - name: Tar built image 
+      # Build the RubikPi3-specific tar file
+      if: ${{ startsWith(matrix.name, 'rubik') }}
+      run: |
+        imagedir=$(dirname ${{ steps.install_deps.outputs.image }})
+        target=photonvision_${{ matrix.name }}
+        tardir=${target}
+        mkdir --parents ${tardir}
+        echo "Contents of imagedir: ${imagedir}"
+        ls -la ${imagedir}
+        if ls ${imagedir}/*.tar.gz 1>/dev/null 2>&1; then
+          sudo tar -xzf ${imagedir}/*.tar.gz -C ${tardir} --strip-components=1
+        fi
+        sudo mv ${imagedir}/rawprogram*.xml ${tardir}/ 2>/dev/null || true
+        sudo mv ${imagedir}/dtb.bin ${tardir}/ 2>/dev/null || true
+        sudo mv ${imagedir}/*.img ${tardir}/ 2>/dev/null || true
+        sudo find ${tardir} -mindepth 2 -type f -exec mv {} ${tardir}/ \;
+        sudo find ${tardir} -mindepth 1 -type d -empty -delete
+        echo "Contents of tardir: ${tardir}"
+        ls -la ${tardir}
+        sudo tar -I 'xz -T0' --create --file=${target}.tar.xz ${tardir} --checkpoint=10000 --checkpoint-action=echo='%T'
+        echo "Contents of tar file:"
+        # Expenive operation (has to unzip the file), only use for debugging
+        # echo "Contents of tar file:"
+        # tar --list --file=${target}.tar.xz
+        echo "artifact=${target}.tar.xz" >> "$GITHUB_ENV"
 
-    - uses: actions/upload-artifact@v4.3.4
+    - uses: actions/upload-artifact@v4
       with:
-        name: photonvision_${{ matrix.name }}.img.xz
-        path: photonvision_${{ matrix.name }}.img.xz
+        name: ${{ env.artifact }}
+        path: ${{ env.artifact }}
         if-no-files-found: error
         retention-days: 1
 
   release:
-    needs: [build, rubik]
+    needs: [build]
     runs-on: ubuntu-24.04
     steps:
       # Download literally every single artifact

files/pigpiod.service

@@ -1,7 +1,7 @@
 #!/bin/bash
 
 # Exit on errors
-set -e
+set -e +u
 
 needs_arg() {
     if [ -z "$OPTARG" ]; then
@@ -42,7 +42,7 @@ install_if_missing() {
 
   debug "Installing $1..."
   if [[ -z $TEST ]]; then
-    apt-get install --yes "$1"
+    apt-get --yes install "$1"
     # Always mark our upstream apt deps as held back, which will prevent the package
     # from being automatically installed, upgraded or removed
     apt-mark manual "$1"
@@ -111,9 +111,10 @@ if grep -iq "systemcore" /etc/os-release; then
 fi
 
 INSTALL_NETWORK_MANAGER="ask"
+DISABLE_NETWORKING="false"
 VERSION="latest"
 
-while getopts "hlv:a:mnqt-:" OPT; do
+while getopts "hlva:mnqt-:" OPT; do
   if [ "$OPT" = "-" ]; then
     OPT="${OPTARG%%=*}"       # extract long option name
     OPTARG="${OPTARG#"$OPT"}" # extract long option argument (may be empty)
@@ -137,8 +138,8 @@ while getopts "hlv:a:mnqt-:" OPT; do
       exit 0
       ;;
     v | version)
-      needs_arg
-      VERSION=${OPTARG}
+      # needs_arg
+      VERSION=${OPTARG:-latest}
       ;;
     a | arch) needs_arg; ARCH=$OPTARG
       ;;
@@ -228,7 +229,7 @@ DISTRO=$(lsb_release -is)
 # i.e. the distro is Ubuntu, you haven't requested disabling networking,
 # and you have requested a quiet install.
 if [[ "$INSTALL_NETWORK_MANAGER" == "ask" ]]; then
-  if [[ "$DISTRO" != "Ubuntu" || -n "$DISABLE_NETWORKING" || -n "$QUIET" ]] ; then
+  if [[ "$DISTRO" != "Ubuntu" || "$DISABLE_NETWORKING" == "true" || -n "$QUIET" ]] ; then
     INSTALL_NETWORK_MANAGER="no"
   fi
 fi
@@ -245,7 +246,7 @@ fi
 
 debug "Updating package list..."
 if [[ -z $TEST ]]; then
-  apt-get update
+  apt-get -q update
 fi
 debug "Updated package list."
 
@@ -291,23 +292,6 @@ EOF
   fi
 fi
 
-debug ""
-debug "Installing additional math packages"
-if [[ "$DISTRO" = "Ubuntu" && -z $(apt-cache search libcholmod3) ]]; then
-  debug "Adding jammy to list of apt sources"
-  if [[ -z $TEST ]]; then
-    if [[ "$ARCH" = "x86_64" ]]; then
-      add-apt-repository -y -S 'deb http://security.ubuntu.com/ubuntu jammy main universe'
-    else
-      add-apt-repository -y -S 'deb http://ports.ubuntu.com/ubuntu-ports jammy main universe'
-    fi
-  fi
-fi
-
-install_if_missing libcholmod3
-install_if_missing liblapack3
-install_if_missing libsuitesparseconfig5
-
 debug ""
 
 debug "Downloading PhotonVision '$VERSION'..."
@@ -325,7 +309,6 @@ debug "Downloaded PhotonVision."
 
 debug "Creating the PhotonVision systemd service..."
 
-
 if [[ -z $TEST ]]; then
   # service --status-all doesn't list photonvision on OrangePi use systemctl instead:
   if [[ $(systemctl --quiet is-active photonvision) = "active" ]]; then
@@ -341,6 +324,8 @@ if [[ -z $TEST ]]; then
   cat > /lib/systemd/system/photonvision.service <<EOF
 [Unit]
 Description=Service that runs PhotonVision
+# Uncomment the next line to have photonvision startup wait for NetworkManager startup
+# After=network.target
 
 [Service]
 WorkingDirectory=/opt/photonvision
@@ -360,8 +345,12 @@ RestartSec=1
 WantedBy=multi-user.target
 EOF
 
-  if [ "$DISABLE_NETWORKING" = "true" ]; then
+  if [[ "$DISABLE_NETWORKING" == "true" ]]; then
+    debug "Adding -n switch to photonvision startup to disable network management"
     sed -i "s/photonvision.jar/photonvision.jar -n/" /lib/systemd/system/photonvision.service
+  else
+    debug "Setting photonvision.service to start after network.target is reached"
+    sed -i "s/# After=network.target/After=network.target/g" /lib/systemd/system/photonvision.service
   fi
 
   if grep -q "RK3588" /proc/cpuinfo; then

install.sh

@@ -1,7 +1,7 @@
-#!/bin/bash -v
+#!/bin/bash
 
-# Verbose and exit on errors
-set -ex
+# Exit on errors, print commands, ignore unset variables
+set -ex +u
 
 # Do additional tasks that are common across all images, 
 # but not suitable for inclusion in install.sh
@@ -28,4 +28,13 @@ echo "photon:vision" | chpasswd
 # ASCII Art generated by: https://www.asciiart.eu/image-to-ascii
 cp -f ./files/issue.txt /etc/issue
 cp -f /etc/issue /etc/issue.net
-sed -i 's/#Banner none/Banner \/etc\/issue.net/g' /etc/ssh/sshd_config
+echo "Banner /etc/issue.net" > /etc/ssh/sshd_config.d/90_PhotonVisionBanner.conf
+
+# Add photon version file
+mkdir -p /opt/photonvision/
+
+# Keep this for legacy purposes
+# DEPRECATED: removal in 2027
+echo "${GITHUB_REF_NAME};${image_name}" > /opt/photonvision/image-version
+
+cp -f ./image-version.json /opt/photonvision/image-version.json

install_common.sh

@@ -1,7 +1,15 @@
-#!/bin/bash -v
+#!/bin/bash
+
+# Exit on errors, print commands, ignore unset variables
+set -ex +u
+
+# silence log spam from dpkg
+cat > /etc/apt/apt.conf.d/99dpkg.conf << EOF
+Dpkg::Progress-Fancy "0";
+APT::Color "0";
+Dpkg::Use-Pty "0";
+EOF
 
-# Verbose and exit on errors
-set -ex
 # Run normal photon installer
 chmod +x ./install.sh
 ./install.sh --install-nm=yes --arch=aarch64
@@ -10,22 +18,20 @@ chmod +x ./install.sh
 install -m 644 config.txt /boot/
 install -m 644 userconf.txt /boot/
 
+# configure hostname
+echo "photonvision" > /etc/hostname
+sed -i 's/raspberrypi/photonvision/g' /etc/hosts
+
 # Kill wifi and other networking things
 install -v -m 644 -D -t /etc/systemd/system/dhcpcd.service.d/ files/wait.conf
 install -v files/rpi-blacklist.conf /etc/modprobe.d/blacklist.conf
 
-# Update pigipio service file to listen locally
-install -v -m 644 files/pigpiod.service /lib/systemd/system/pigpiod.service
-systemctl daemon-reload
-
-# Enable ssh/pigpiod
+# Enable ssh
 systemctl enable ssh
-systemctl enable pigpiod
-
 
 echo "Installing additional things"
 sudo apt-get update
-apt-get install -y pigpiod pigpio device-tree-compiler
+apt-get install -y device-tree-compiler
 apt-get install -y network-manager net-tools
 # libcamera-driver stuff
 apt-get install -y libegl1 libopengl0 libgl1-mesa-dri libgbm1 libegl1-mesa-dev libcamera-dev cmake build-essential libdrm-dev libgbm-dev default-jdk openjdk-17-jdk