Add OV9782 support, optional support for libcamera 0.6+, and add arm64 sysroot JNI build helper #30
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,134 @@ | ||
| #!/bin/bash | ||
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There was a problem hiding this comment. Can you remind me why we should upstream this script, rather than the existing cross build setup? (Which granted only really works in CI or a real Pi)
Author
There was a problem hiding this comment. Makes local dev much quicker and possible without access to direct hardware. I can swap it out with a full docker container so other environments can build easier or if its not wanted can be removed all together. There was a problem hiding this comment. I do think that the current cross-compiling story kinda sucks/isn't there, so I do see value in having a blessed way to build outside of the pipeline. I'll think a bit harder on it but that broadly makes sense to me |
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| set -euo pipefail | ||
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| repo_root="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)" | ||
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| sysroot_dir="${SYSROOT_DIR:-}" | ||
| if [ -z "${sysroot_dir}" ]; then | ||
| echo "SYSROOT_DIR is required (path to the target rootfs or sysroot)." 1>&2 | ||
| exit 1 | ||
| fi | ||
| sysroot_dir="$(realpath "${sysroot_dir}")" | ||
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| docker_image="${DOCKER_IMAGE:-debian:bookworm}" | ||
| docker_platform="${DOCKER_PLATFORM:-linux/arm64}" | ||
| maven_local_repo="${MAVEN_LOCAL_REPO:-${repo_root}/.m2-arm64}" | ||
| cmake_extra_args="${CMAKE_EXTRA_ARGS:-}" | ||
| gradle_extra_args="${GRADLE_EXTRA_ARGS:-}" | ||
| clean_build="${CLEAN_BUILD:-0}" | ||
| sysroot_mode="${SYSROOT_MODE:-libcamera}" | ||
| use_docker="${USE_DOCKER:-1}" | ||
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| if [ "${clean_build}" = "1" ]; then | ||
| rm -rf "${repo_root}/cmake_build" || true | ||
| fi | ||
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| mkdir -p "${maven_local_repo}" | ||
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| if [ "${use_docker}" != "1" ]; then | ||
| export DEBIAN_FRONTEND=noninteractive | ||
| export PKG_CONFIG_SYSROOT_DIR="${sysroot_dir}" | ||
| export PKG_CONFIG_PATH="${sysroot_dir}/usr/lib/aarch64-linux-gnu/pkgconfig:${sysroot_dir}/usr/lib/pkgconfig:${sysroot_dir}/usr/share/pkgconfig:${sysroot_dir}/usr/local/lib/aarch64-linux-gnu/pkgconfig:${sysroot_dir}/usr/local/lib/pkgconfig:/usr/lib/aarch64-linux-gnu/pkgconfig:/usr/lib/pkgconfig:/usr/share/pkgconfig" | ||
| if [ -z "${JAVA_HOME:-}" ]; then | ||
| arch="$(dpkg --print-architecture 2>/dev/null || true)" | ||
| if [ "${arch}" = "amd64" ]; then | ||
| export JAVA_HOME="/usr/lib/jvm/java-17-openjdk-amd64" | ||
| else | ||
| export JAVA_HOME="/usr/lib/jvm/java-17-openjdk-arm64" | ||
| fi | ||
| else | ||
| export JAVA_HOME="${JAVA_HOME}" | ||
| fi | ||
| git config --global --add safe.directory "${repo_root}" | ||
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| build_dir="${repo_root}/cmake_build" | ||
| cmake_args=( | ||
| -B "${build_dir}" | ||
| -S "${repo_root}" | ||
| -DOpenGL_GL_PREFERENCE=GLVND | ||
| -DBUILD_CAMERA_MEME=OFF | ||
| ) | ||
| if [ "${sysroot_mode}" = "full" ]; then | ||
| cmake_args+=( | ||
| -DCMAKE_SYSROOT="${sysroot_dir}" | ||
| -DCMAKE_FIND_ROOT_PATH="${sysroot_dir}" | ||
| -DCMAKE_FIND_ROOT_PATH_MODE_LIBRARY=ONLY | ||
| -DCMAKE_FIND_ROOT_PATH_MODE_INCLUDE=ONLY | ||
| -DCMAKE_FIND_ROOT_PATH_MODE_PACKAGE=ONLY | ||
| -DCMAKE_PREFIX_PATH="${sysroot_dir}/usr;${sysroot_dir}/usr/local" | ||
| ) | ||
| else | ||
| cmake_args+=( | ||
| -DCMAKE_LIBRARY_PATH="${sysroot_dir}/usr/lib/aarch64-linux-gnu:${sysroot_dir}/usr/local/lib/aarch64-linux-gnu" | ||
| -DCMAKE_INCLUDE_PATH="${sysroot_dir}/usr/include:${sysroot_dir}/usr/local/include" | ||
| ) | ||
| fi | ||
| cmake "${cmake_args[@]}" ${cmake_extra_args} | ||
| cmake --build "${build_dir}" -j"$(nproc)" | ||
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| cd "${repo_root}" | ||
| ./gradlew --no-daemon \ | ||
| -Dmaven.repo.local="${maven_local_repo}" \ | ||
| build publishToMavenLocal \ | ||
| -PArchOverride=linuxarm64 \ | ||
| ${gradle_extra_args} | ||
| exit 0 | ||
| fi | ||
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| docker run --rm --platform="${docker_platform}" \ | ||
| -v "${repo_root}:/work" \ | ||
| -v "${sysroot_dir}:/sysroot:ro" \ | ||
| -v "${maven_local_repo}:/work/.m2-arm64" \ | ||
| "${docker_image}" bash -lc " | ||
| set -euo pipefail | ||
| export DEBIAN_FRONTEND=noninteractive | ||
| apt-get update >/dev/null | ||
| apt-get install -y --no-install-recommends \ | ||
| build-essential \ | ||
| ca-certificates \ | ||
| cmake \ | ||
| git \ | ||
| libdrm-dev \ | ||
| libegl1-mesa-dev \ | ||
| libgbm-dev \ | ||
| libgl1-mesa-dev \ | ||
| ninja-build \ | ||
| openjdk-17-jdk \ | ||
| pkg-config >/dev/null | ||
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| export PKG_CONFIG_SYSROOT_DIR=/sysroot | ||
| export PKG_CONFIG_PATH=/sysroot/usr/lib/aarch64-linux-gnu/pkgconfig:/sysroot/usr/lib/pkgconfig:/sysroot/usr/share/pkgconfig:/sysroot/usr/local/lib/aarch64-linux-gnu/pkgconfig:/sysroot/usr/local/lib/pkgconfig:/usr/lib/aarch64-linux-gnu/pkgconfig:/usr/lib/pkgconfig:/usr/share/pkgconfig | ||
| export JAVA_HOME=/usr/lib/jvm/java-17-openjdk-arm64 | ||
| git config --global --add safe.directory /work | ||
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| cmake_args=( | ||
| -B /work/cmake_build | ||
| -S /work | ||
| -DOpenGL_GL_PREFERENCE=GLVND | ||
| -DBUILD_CAMERA_MEME=OFF | ||
| ) | ||
| if [ \"${sysroot_mode}\" = \"full\" ]; then | ||
| cmake_args+=( | ||
| -DCMAKE_SYSROOT=/sysroot | ||
| -DCMAKE_FIND_ROOT_PATH=/sysroot | ||
| -DCMAKE_FIND_ROOT_PATH_MODE_LIBRARY=ONLY | ||
| -DCMAKE_FIND_ROOT_PATH_MODE_INCLUDE=ONLY | ||
| -DCMAKE_FIND_ROOT_PATH_MODE_PACKAGE=ONLY | ||
| -DCMAKE_PREFIX_PATH=/sysroot/usr\\;/sysroot/usr/local | ||
| ) | ||
| else | ||
| cmake_args+=( | ||
| -DCMAKE_LIBRARY_PATH=/sysroot/usr/lib/aarch64-linux-gnu:/sysroot/usr/local/lib/aarch64-linux-gnu | ||
| -DCMAKE_INCLUDE_PATH=/sysroot/usr/include:/sysroot/usr/local/include | ||
| ) | ||
| fi | ||
| cmake \${cmake_args[@]} ${cmake_extra_args} | ||
| cmake --build /work/cmake_build -j\$(nproc) | ||
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| cd /work | ||
| ./gradlew --no-daemon \ | ||
| -Dmaven.repo.local=/work/.m2-arm64 \ | ||
| build publishToMavenLocal \ | ||
| -PArchOverride=linuxarm64 \ | ||
| ${gradle_extra_args} | ||
| " | ||
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I think for 2027+, we should force everyone to use a new libcamera?
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Not sure what the over arching goals are, so I did not want to force 0.6 if there was other issues with other platforms. I would recommend it as 0.6+ is stable now to my knowledge
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Hopefully this fixes (unofficial) Debian/RPiOS Trixie support again. I don't have the time to check this today, but maybe tomorrow.
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Looks like we currently install libcamera 0.5.2 -> https://github.com/PhotonVision/photon-image-modifier/actions/runs/22130709321/job/64030036864?pr=126#step:5:1477
I think @Gold856 was partially through compiling libcamera from source as part of this driver build, which would release us from our dependence on random rpi apt repos.
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The RPiOS Trixie image has libcamera 0.6 preinstalled. While libcamera 0.5 is available, sufficiently removing 0.6 to install 0.5 is nontrivial.
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Yeah, I got libcamera 0.6 building completely independently. That's what I want to switch to for 2027. Still trying to work out how to ship the IPA files and stuff.