mirror of
https://github.com/commaai/agnos-builder.git
synced 2026-04-06 06:43:53 +08:00
148 lines
4.6 KiB
Bash
Executable File
148 lines
4.6 KiB
Bash
Executable File
#!/usr/bin/env bash
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set -e
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UBUNTU_BASE_URL="http://cdimage.ubuntu.com/ubuntu-base/releases/24.04/release"
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UBUNTU_FILE="ubuntu-base-24.04-base-arm64.tar.gz"
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# Make sure we're in the correct spot
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DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
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cd $DIR
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ARCH=$(uname -m)
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BUILD_DIR="$DIR/build"
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OUTPUT_DIR="$DIR/output"
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ROOTFS_DIR="$BUILD_DIR/agnos-rootfs"
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ROOTFS_IMAGE="$BUILD_DIR/system.img"
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OUT_IMAGE="$OUTPUT_DIR/system.img"
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OUT_SKIP_CHUNKS_IMAGE="$OUTPUT_DIR/system-skip-chunks.img"
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# the partition is 10G, but openpilot's updater didn't always handle the full size
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# openpilot fix, shipped in 0.9.8 (8/18/24): https://github.com/commaai/openpilot/pull/33320
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ROOTFS_IMAGE_SIZE=5G
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# Create temp dir if non-existent
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mkdir -p $BUILD_DIR $OUTPUT_DIR
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# Copy kernel modules
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if ! ls $OUTPUT_DIR/*.ko >/dev/null 2>&1; then
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echo "Kernel modules missing. Run ./build_kernel.sh first"
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exit 1
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fi
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cp $OUTPUT_DIR/wlan.ko $DIR/userspace/usr/comma
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cp $OUTPUT_DIR/snd*.ko $DIR/userspace/usr/comma/sound/
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# Download Ubuntu Base if not done already
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if [ ! -f $UBUNTU_FILE ]; then
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echo -e "${GREEN}Downloading Ubuntu: $UBUNTU_FILE ${NO_COLOR}"
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curl -C - -o $UBUNTU_FILE $UBUNTU_BASE_URL/$UBUNTU_FILE --silent --remote-time
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fi
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# Setup qemu multiarch
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if [ "$ARCH" = "x86_64" ]; then
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echo "Registering qemu-user-static"
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docker run --rm --privileged multiarch/qemu-user-static --reset -p yes > /dev/null
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fi
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# Check agnos-builder Dockerfile
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docker build -f Dockerfile.agnos --check $DIR
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# Start agnos-builder docker build and create container
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echo "Building agnos-builder docker image"
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docker build -f Dockerfile.agnos -t agnos-builder $DIR
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echo "Creating agnos-builder container"
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CONTAINER_ID=$(docker container create --entrypoint /bin/bash agnos-builder:latest)
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# Check agnos-meta-builder Dockerfile
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docker build -f Dockerfile.builder --check $DIR \
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--build-arg UNAME=$(id -nu) \
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--build-arg UID=$(id -u) \
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--build-arg GID=$(id -g)
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# Setup mount container for macOS and CI support (namespace.so)
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echo "Building agnos-meta-builder docker image"
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docker build -f Dockerfile.builder -t agnos-meta-builder $DIR \
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--build-arg UNAME=$(id -nu) \
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--build-arg UID=$(id -u) \
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--build-arg GID=$(id -g)
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echo "Starting agnos-meta-builder container"
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MOUNT_CONTAINER_ID=$(docker run -d --privileged -v $DIR:$DIR agnos-meta-builder)
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# Cleanup containers on possible exit
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trap "echo \"Cleaning up containers:\"; \
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docker container rm -f $CONTAINER_ID $MOUNT_CONTAINER_ID" EXIT
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# Define functions for docker execution
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exec_as_user() {
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docker exec -u $(id -nu) $MOUNT_CONTAINER_ID "$@"
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}
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exec_as_root() {
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docker exec $MOUNT_CONTAINER_ID "$@"
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}
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# Create filesystem ext4 image
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echo "Creating empty filesystem"
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exec_as_user fallocate -l $ROOTFS_IMAGE_SIZE $ROOTFS_IMAGE
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exec_as_user mkfs.ext4 $ROOTFS_IMAGE &> /dev/null
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# Mount filesystem
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echo "Mounting empty filesystem"
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exec_as_root mkdir -p $ROOTFS_DIR
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exec_as_root mount $ROOTFS_IMAGE $ROOTFS_DIR
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# Also unmount filesystem (overwrite previous trap)
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trap "exec_as_root umount -l $ROOTFS_DIR &> /dev/null || true; \
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echo \"Cleaning up containers:\"; \
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docker container rm -f $CONTAINER_ID $MOUNT_CONTAINER_ID" EXIT
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# Extract image
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echo "Extracting docker image"
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docker container export -o $BUILD_DIR/filesystem.tar $CONTAINER_ID
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exec_as_root tar -xf $BUILD_DIR/filesystem.tar -C $ROOTFS_DIR > /dev/null
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# Avoid detecting as container
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echo "Removing .dockerenv file"
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exec_as_root rm -f $ROOTFS_DIR/.dockerenv
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echo "Setting network stuff"
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set_network_stuff() {
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cd $ROOTFS_DIR
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# Add hostname and hosts. This cannot be done in the docker container...
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HOST=comma
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bash -c "ln -sf /proc/sys/kernel/hostname etc/hostname"
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bash -c "echo \"127.0.0.1 localhost.localdomain localhost\" > etc/hosts"
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bash -c "echo \"127.0.0.1 $HOST\" >> etc/hosts"
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# Fix resolv config
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bash -c "ln -sf /run/systemd/resolve/stub-resolv.conf etc/resolv.conf"
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# Set capability for ping
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bash -c "setcap cap_net_raw+ep bin/ping"
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# Write build info
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DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
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bash -c "printf \"$GIT_HASH\n$DATETIME\" > BUILD"
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}
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GIT_HASH=$(git --git-dir=$DIR/.git rev-parse HEAD)
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exec_as_root bash -c "set -e; export ROOTFS_DIR=$ROOTFS_DIR GIT_HASH=$GIT_HASH; $(declare -f set_network_stuff); set_network_stuff"
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# Unmount image
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echo "Unmount filesystem"
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exec_as_root umount -l $ROOTFS_DIR
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# Make system image with skipped chunks
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echo "Sparsifying image $(basename $OUT_SKIP_CHUNKS_IMAGE)"
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exec_as_user bash -c "\
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TMP_SPARSE=\$(mktemp); \
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img2simg $ROOTFS_IMAGE \$TMP_SPARSE; \
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TMP_SKIP=\$(mktemp); \
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$DIR/tools/simg2dontcare.py \$TMP_SPARSE \$TMP_SKIP; \
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mv \$TMP_SKIP $OUT_SKIP_CHUNKS_IMAGE"
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# Copy system image to output
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cp $ROOTFS_IMAGE $OUT_IMAGE
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echo "Done!"
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