Rubik Pi Image Builder

.github/workflows/main.yml

@@ -12,6 +12,34 @@ 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
+
+    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 }}
+
+    - 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
 
@@ -95,7 +123,7 @@ jobs:
         retention-days: 1
 
   release:
-    needs: [build]
+    needs: [build, rubik]
     runs-on: ubuntu-24.04
     steps:
       # Download literally every single artifact
@@ -111,17 +139,10 @@ jobs:
             **/*.xz
         if: github.event_name == 'push'
       # Upload all xz archives to GH tag if tagged
-      - uses: softprops/action-gh-release@v2.0.8
-        with:
-          files: |
-            **/*opi5*.xz
-        if: startsWith(github.ref, 'refs/tags/v')
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-      - uses: softprops/action-gh-release@v2.0.8
+      - uses: softprops/action-gh-release@v2.4.0
         with:
           files: |
-            **/!(*opi5*).xz
+            **.xz
         if: startsWith(github.ref, 'refs/tags/v')
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

install_rubikpi3.sh

@@ -0,0 +1,66 @@
+#!/bin/bash -v
+# Verbose and exit on errors
+set -ex
+
+cd /tmp/build
+echo '=== Current directory: \$(pwd) ==='
+echo '=== Files in current directory: ==='
+ls -la
+
+REPO_ENTRY="deb http://apt.thundercomm.com/rubik-pi-3/noble ppa main"
+HOST_ENTRY="151.106.120.85 apt.rubikpi.ai"	# TODO: Remove legacy
+
+# First update the APT
+apt-get update -y
+
+
+# TODO: Remove legacy
+sed -i "/$HOST_ENTRY/d" /etc/hosts || true
+sed -i '/apt.rubikpi.ai ppa main/d' /etc/apt/sources.list || true
+
+if ! grep -q "^[^#]*$REPO_ENTRY" /etc/apt/sources.list; then
+    echo "$REPO_ENTRY" | tee -a /etc/apt/sources.list >/dev/null
+fi
+
+# Add the GPG key for the RUBIK Pi PPA
+wget -qO - https://thundercomm.s3.dualstack.ap-northeast-1.amazonaws.com/uploads/web/rubik-pi-3/tools/key.asc | tee /etc/apt/trusted.gpg.d/rubikpi3.asc
+
+apt update -y
+
+apt-get -y --allow-downgrades install libsqlite3-0=3.45.1-1ubuntu2
+apt-get -y install libqnn1 libsnpe1 tensorflow-lite-qcom-apps qcom-adreno1
+
+ln -sf libOpenCL.so.1 /usr/lib/aarch64-linux-gnu/libOpenCL.so # Fix for snpe-tools
+
+# Run normal photon installer
+chmod +x ./install.sh
+./install.sh --install-nm=yes --arch=aarch64
+
+# Enable ssh
+systemctl enable ssh
+
+
+# Remove extra packages too
+echo "Purging extra things"
+apt-get purge -y gdb gcc g++ linux-headers* libgcc*-dev
+apt-get autoremove -y
+
+echo "Installing additional things"
+
+apt-get update -y
+
+apt-get install -y device-tree-compiler
+
+rm -rf /var/lib/apt/lists/*
+apt-get clean
+
+rm -rf /usr/share/doc
+rm -rf /usr/share/locale/
+
+echo '=== Running install_common.sh ==='
+chmod +x ./install_common.sh
+./install_common.sh
+echo '=== Creating version file ==='
+mkdir -p /opt/photonvision/
+echo '{$1};rubikpi3' > /opt/photonvision/image-version
+echo '=== Installation complete ==='

mount_rubikpi3.sh

@@ -0,0 +1,216 @@
+# Set variables
+
+base_image=$1
+script=$2
+
+set -exv
+
+# Install required packages
+sudo apt-get update
+sudo apt-get install -y qemu-user-static wget xz-utils
+# If base_image ends with .yaml, treat it as a manifest and skip download
+if [[ "$base_image" == *.yaml ]]; then
+
+  # Download and process manifest
+  wget -O manifest.yaml "${base_image}"
+
+  echo "=== Manifest contents ==="
+  cat manifest.yaml
+  echo "========================="
+
+  # Process each component using awk to extract URL and SHA256
+  awk '/url:/ {
+      sub(/.*url:[[:space:]]*/,"",$0);
+      url=$0
+       }
+       /sha256sum:/ {
+      sub(/.*sha256sum:[[:space:]]*/,"",$0);
+      print url, $0
+       }' manifest.yaml | while read -r url sha; do
+    filename=$(basename "$url")
+    echo "Downloading: $filename from $url"
+    wget -nv -O "$filename" "$url"
+    echo "$sha  $filename" | sha256sum -c -
+  done
+
+  echo "=== Downloaded files ==="
+  ls -lh
+  echo "========================"
+elif [[ "$base_image" == *.tar.xz ]]; then
+  # Directly download the tar.xz file
+  wget -nv -O base_image.tar.xz "${base_image}"
+  tar -xJf base_image.tar.xz
+else
+  echo "Error: base_image must be a .yaml manifest or .tar.xz"
+  exit 1
+fi
+# Find the rootfs image - look for the largest .img.xz file or one with "rootfs" in name
+ROOTFS_IMG_XZ=""
+
+# First try to find a file with "rootfs" in the name
+for file in *.img.xz; do
+  if [[ "$file" == *"rootfs"* ]]; then
+    ROOTFS_IMG_XZ="$file"
+    echo "Found rootfs image by name: $ROOTFS_IMG_XZ"
+    break
+  fi
+done
+
+# If not found, use the largest .img.xz file
+if [ -z "$ROOTFS_IMG_XZ" ]; then
+  ROOTFS_IMG_XZ=$(ls -S *.img.xz 2>/dev/null | head -n1)
+  echo "Using largest .img.xz file as rootfs: $ROOTFS_IMG_XZ"
+fi
+
+if [ -z "$ROOTFS_IMG_XZ" ] || [ ! -f "$ROOTFS_IMG_XZ" ]; then
+  echo "Error: Could not find a suitable rootfs image file"
+  echo "Available files:"
+  ls -la
+  exit 1
+fi
+
+ROOTFS_IMG="${ROOTFS_IMG_XZ%.xz}"
+
+echo "Extracting rootfs image: $ROOTFS_IMG_XZ"
+xz -d "$ROOTFS_IMG_XZ"
+
+if [ ! -f "$ROOTFS_IMG" ]; then
+  echo "Error: Failed to extract $ROOTFS_IMG"
+  exit 1
+fi
+
+echo "Using rootfs image: $ROOTFS_IMG"
+
+# This uses a fixed offset for Ubuntu preinstalled server images
+echo "=== Mounting rootfs with fixed offset (rpiimager method) ==="
+mkdir -p ./rootfs
+
+# Calculate offset: 4096 bytes/sector * 139008 sectors = 569,376,768 bytes
+OFFSET=$((4096*139008))
+echo "Using offset: $OFFSET bytes (sector 139008)"
+
+sudo mount -o rw,loop,offset=$OFFSET "$ROOTFS_IMG" ./rootfs
+
+if [ $? -ne 0 ]; then
+  echo "Error: Failed to mount image with fixed offset"
+  exit 1
+fi
+
+echo "=== Mount successful ==="
+ls -la ./rootfs | head -20
+
+# Check if this is a Canonical or Modified image (from rpiimager logic)
+if [ -f "rootfs/etc/ImgType" ]; then
+  cp rootfs/etc/ImgType ImgType
+else
+  echo "Canonical" > ImgType
+fi
+read ImgType < ImgType
+echo "Image type: $ImgType"
+
+# Expand image if it's a Canonical image (first time modification)
+if [ "$ImgType" == "Canonical" ]; then
+  echo "=== Marking image as CustomIDE ==="
+  sudo chroot rootfs /bin/bash -c "
+    touch /etc/ImgType
+    echo 'CustomIDE' > /etc/ImgType
+  "
+
+  echo "=== Unmounting for expansion ==="
+  sudo umount ./rootfs
+
+  # Expand the image by 4GB (reduced from 10GB to fit GitHub Actions disk space)
+  echo "=== Expanding image by 4GB ==="
+  dd if=/dev/zero bs=1M count=4096 >> "$ROOTFS_IMG"
+
+  # Remount after expansion
+  echo "=== Remounting after expansion ==="
+  sudo mount -o rw,loop,offset=$OFFSET "$ROOTFS_IMG" ./rootfs
+elif [ "$ImgType" == "CustomIDE" ]; then
+  echo "Image already customized, no expansion needed"
+fi
+
+rm -f ImgType
+
+echo "=== Filesystem ready ==="
+
+# Setup chroot environment
+sudo mount -t proc proc rootfs/proc
+sudo mount -t sysfs sysfs rootfs/sys
+sudo mount -t tmpfs tmpfs rootfs/run
+sudo mount --bind /dev rootfs/dev
+
+# Setup DNS resolution in chroot
+echo "=== Setting up DNS in chroot ==="
+sudo rm -f rootfs/etc/resolv.conf
+sudo cp /etc/resolv.conf rootfs/etc/resolv.conf
+sudo cp /etc/hosts rootfs/etc/hosts
+
+# Copy qemu static binaries for ARM emulation
+sudo cp /usr/bin/qemu-arm-static rootfs/usr/bin/ || true
+sudo cp /usr/bin/qemu-aarch64-static rootfs/usr/bin/ || true
+
+# DEPRECATED: using bind mount instead
+# Copy repository into chroot (excluding mounted directories and problematic files)
+# sudo mkdir -p rootfs/tmp/build/
+# sudo rsync -av --exclude=rootfs --exclude=.git --exclude=*.img --exclude=*.xz . rootfs/tmp/build/
+
+# Mount and bind the current directory into /tmp/build in chroot
+sudo mkdir -p rootfs/tmp/build/
+sudo mount --bind "$(pwd)" rootfs/tmp/build/
+
+# Install sudo in the chroot environment (needed by install scripts)
+echo "=== Installing sudo in chroot ==="
+sudo chroot rootfs /usr/bin/qemu-aarch64-static /bin/bash -c "set -exv && DEBIAN_FRONTEND=noninteractive apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y sudo"
+
+# Run the installation scripts in chroot with verbose output
+echo "=== Running installation scripts in chroot ==="
+sudo chroot rootfs /usr/bin/qemu-aarch64-static /bin/bash -c "
+  set -exv
+  export DEBIAN_FRONTEND=noninteractive
+  echo '=== Making script executable ==='
+  chmod +x ${script}
+  echo '=== Running ${script} with arguments: ${@:3} ==='
+  ./${script} ${@:3}
+"
+
+# Cleanup mounts
+sudo umount rootfs/dev || true
+sudo umount rootfs/run || true
+sudo umount rootfs/sys || true
+sudo umount rootfs/proc || true
+sudo umount rootfs/tmp/build/ || true
+sudo umount rootfs || true
+
+# More aggressive loop device cleanup
+if [ -n "$LOOP_DEV" ]; then
+  sudo losetup -d "$LOOP_DEV" || true
+fi
+
+# Find and detach any remaining loop devices pointing to our image
+sudo losetup -j "$ROOTFS_IMG" | cut -d: -f1 | xargs -r sudo losetup -d
+
+# Ensure all filesystem operations are complete
+sync
+sleep 3
+
+# Assembly process for remaining files
+mkdir -p photonvision_rubikpi3
+# Extract .tar.gz archive(s) directly into photonvision_rubikpi3 if they exist
+if ls *.tar.gz 1>/dev/null 2>&1; then
+  tar -xzf *.tar.gz -C photonvision_rubikpi3
+fi
+# Move all files (rawprogram, dtb, img) into photonvision_rubikpi3
+mv rawprogram*.xml photonvision_rubikpi3/ 2>/dev/null || true
+mv dtb.bin photonvision_rubikpi3/ 2>/dev/null || true
+mv *.img photonvision_rubikpi3/ 2>/dev/null || true
+
+# Flatten directory structure - move all files from subdirectories to photonvision_rubikpi3 root
+find photonvision_rubikpi3 -mindepth 2 -type f -exec mv {} photonvision_rubikpi3/ \;
+# Remove empty subdirectories
+find photonvision_rubikpi3 -mindepth 1 -type d -empty -delete
+
+# Set output for later steps
+# Save the rootfs image path for later steps
+echo "rootfs_image=$ROOTFS_IMG" >> $GITHUB_ENV
+tar -cJf photonvision_rubikpi3.tar.xz -C . photonvision_rubikpi3