remove all armhf (#564)

* remove all armhf

* fix that

* Revert "build_system: stream build output directly into rootfs (#552)"

This reverts commit 71e7369174.

* fix up build

* wifi works

* fix graphics

* revert that

* add back

Dockerfile.agnos

@@ -33,6 +33,20 @@ COPY ./userspace/compile-modemmanager.sh /tmp/agnos/
 RUN --mount=type=cache,target=/root/.ccache,id=modemmanager,sharing=shared \
     /tmp/agnos/compile-modemmanager.sh
 
+# power_burn_max
+FROM agnos-compiler AS agnos-compiler-power-burn
+RUN apt-get update && apt-get install -yq --no-install-recommends \
+    opencl-c-headers
+COPY ./userspace/libs/* /usr/lib/aarch64-linux-gnu/
+COPY ./userspace/power_burn/power_burn_max.c /tmp/agnos/
+RUN gcc -O2 -o /tmp/power_burn_max /tmp/agnos/power_burn_max.c \
+    -lOpenCL -lpthread -ldl
+
+# irsc_util
+FROM agnos-compiler AS agnos-compiler-irsc-util
+COPY ./userspace/irsc_util/irsc_util.c /tmp/agnos/
+RUN gcc -O2 -Wall -Wextra -o /tmp/irsc_util /tmp/agnos/irsc_util.c
+
 # ################## #
 # ###### Base ###### #
 # ################## #
@@ -67,7 +81,13 @@ RUN /tmp/agnos/openpilot_python_dependencies.sh
 FROM agnos-base
 
 # Hardware rootfs overlay
-COPY ./userspace/root/ /
+COPY ./userspace/root/etc/ /etc/
+COPY ./userspace/root/lib/ /usr/lib/
+COPY ./userspace/root/lib64/ /usr/lib64/
+COPY ./userspace/root/sbin/ /usr/sbin/
+COPY ./userspace/root/system/ /system/
+COPY ./userspace/root/usr/ /usr/
+RUN mkdir -p /dsp /firmware /persist /data /cache /rwtmp
 
 # Hardware setup
 COPY ./userspace/hardware_setup.sh /tmp/agnos
@@ -90,6 +110,8 @@ RUN cd /tmp && \
     libmm-glib0 \
     libpolkit-gobject-1-0 \
     libsystemd0 \
+    libwayland-client0 \
+    libwayland-server0 \
     polkitd \
     mobile-broadband-provider-info && \
     apt-get -o Dpkg::Options::="--force-overwrite" install -yq ./libqmi.deb && \
@@ -135,13 +157,11 @@ RUN touch -r /lib/systemd/systemd /etc/fstab
 COPY ./userspace/usr/comma/ /usr/$USERNAME/
 COPY ./userspace/usr/share/fonts/* /usr/share/fonts/
 COPY ./userspace/libs/* /usr/lib/aarch64-linux-gnu/
-COPY ./userspace/libs32/* /usr/lib/arm-linux-gnueabihf/
 COPY ./output/linux-headers/include/ /usr/include/
 
-COPY ./userspace/power_burn/power_burn_max.c /tmp/agnos/
-RUN gcc -O2 -o /home/$USERNAME/power_burn_max /tmp/agnos/power_burn_max.c \
-    -lOpenCL -lpthread -ldl && rm /tmp/agnos/power_burn_max.c \
-    && chown $USERNAME: /home/$USERNAME/power_burn_max
+COPY --from=agnos-compiler-power-burn /tmp/power_burn_max /home/$USERNAME/power_burn_max
+RUN chown $USERNAME: /home/$USERNAME/power_burn_max
+COPY --from=agnos-compiler-irsc-util /tmp/irsc_util /usr/bin/irsc_util
 
 # Setup systemd services
 COPY ./userspace/services.sh /tmp/agnos

userspace/base_setup.sh

@@ -8,9 +8,6 @@ HOST=comma
 touch /TICI
 touch /AGNOS
 
-# Add armhf as supported architecture
-dpkg --add-architecture armhf
-
 # Install apt-fast
 apt-get update
 apt-get install -yq curl sudo wget
@@ -120,67 +117,9 @@ echo "comma ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers
 # setup /bin/sh symlink
 ln -sf /bin/bash /bin/sh
 
-# Install necessary libs
+# Install additional runtime packages
 apt-fast update -yq
 apt-fast install --no-install-recommends -yq \
-    libacl1:armhf \
-    libasan6-armhf-cross \
-    libatomic1-armhf-cross \
-    libattr1:armhf \
-    libaudit1:armhf \
-    libblkid1:armhf \
-    libc6:armhf \
-    libc6-armhf-cross \
-    libc6-dev:armhf \
-    libc6-dev-armhf-cross \
-    libcairo2:armhf \
-    libcap2:armhf \
-    libdrm2:armhf \
-    libevdev2:armhf \
-    libexpat1:armhf \
-    libffi8:armhf \
-    libfontconfig1:armhf \
-    libfreetype6:armhf \
-    libgbm1:armhf \
-    libgcc-11-dev-armhf-cross \
-    libglib2.0-0t64:armhf \
-    libgomp1-armhf-cross \
-    libgudev-1.0-0:armhf \
-    libinput-bin:armhf \
-    libinput-dev:armhf \
-    libinput10:armhf \
-    libjpeg-dev:armhf \
-    libjpeg-turbo8:armhf \
-    libjpeg-turbo8-dev:armhf \
-    libjpeg8:armhf \
-    libjpeg8-dev:armhf \
-    libkmod2:armhf \
-    libmtdev1t64:armhf \
-    libpam0g:armhf \
-    libpam0g-dev:armhf \
-    libpcre3:armhf \
-    libpixman-1-0:armhf \
-    libpng16-16t64:armhf \
-    libselinux1:armhf \
-    libstdc++6:armhf \
-    libstdc++6-armhf-cross \
-    libubsan1-armhf-cross \
-    libudev-dev:armhf \
-    libudev1:armhf \
-    libuuid1:armhf \
-    libwacom9:armhf \
-    libx11-6:armhf \
-    libxau6:armhf \
-    libxcb-render0:armhf \
-    libxcb-shm0:armhf \
-    libxcb1:armhf \
-    libxdmcp6:armhf \
-    libxext6:armhf \
-    libxkbcommon0:armhf \
-    libxrender1:armhf \
-    linux-libc-dev:armhf \
-    linux-libc-dev-armhf-cross \
-    zlib1g:armhf \
     libegl1 \
     libegl-dev \
     libgles1 \
@@ -195,5 +134,6 @@ apt-fast install --no-install-recommends -yq \
     kmod \
     wpasupplicant \
     hostapd \
-    libgtk2.0-dev \
-    libxml2:armhf \
+    libgtk2.0-dev
+
+rm -rf /var/lib/apt/lists/*

userspace/files/cdsp.service

@@ -1,7 +1,6 @@
 [Unit]
 Description=Start cdsp
 SourcePath=/usr/bin/cdsp.sh
-Before=cdsprpcd.service
 
 [Service]
 Type=oneshot

userspace/irsc_util/irsc_util.c

@@ -0,0 +1,63 @@
+#include <errno.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#ifndef AF_MSM_IPC
+#define AF_MSM_IPC 27
+#endif
+
+#ifndef PF_MSM_IPC
+#define PF_MSM_IPC AF_MSM_IPC
+#endif
+
+struct config_sec_rules_args {
+  int num_group_info;
+  uint32_t service_id;
+  uint32_t instance_id;
+  unsigned int reserved;
+  gid_t group_id[0];
+};
+
+#define ALL_SERVICE 0xFFFFFFFFU
+#define ALL_INSTANCE 0xFFFFFFFFU
+#define AID_NET_RAW 3004
+#define IPC_ROUTER_IOCTL_MAGIC 0xC3
+#define IPC_ROUTER_IOCTL_CONFIG_SEC_RULES \
+  _IOR(IPC_ROUTER_IOCTL_MAGIC, 5, struct config_sec_rules_args)
+
+int main(int argc, char **argv) {
+  (void)argc;
+  (void)argv;
+
+  int fd = socket(AF_MSM_IPC, SOCK_DGRAM, 0);
+  if (fd < 0) {
+    fprintf(stderr, "irsc_util: socket(AF_MSM_IPC) failed: %s\n", strerror(errno));
+    return 1;
+  }
+
+  struct {
+    struct config_sec_rules_args args;
+    gid_t group_id;
+  } rule = {
+    .args = {
+      .num_group_info = 1,
+      .service_id = ALL_SERVICE,
+      .instance_id = ALL_INSTANCE,
+    },
+    .group_id = AID_NET_RAW,
+  };
+
+  int ret = ioctl(fd, IPC_ROUTER_IOCTL_CONFIG_SEC_RULES, &rule);
+  if (ret < 0) {
+    fprintf(stderr, "irsc_util: IPC router rejected security config: %s\n", strerror(errno));
+    close(fd);
+    return 1;
+  }
+
+  close(fd);
+  return 0;
+}

userspace/libs32/libffi.so.6

@@ -1 +0,0 @@
-libffi.so.6.0.4

userspace/libs32/libinput.so.10

@@ -1 +0,0 @@
-libinput.so.10.13.0

userspace/openpilot_dependencies.sh

@@ -5,51 +5,26 @@ echo "Installing openpilot dependencies"
 # Install necessary libs
 apt-fast update
 apt-fast install --no-install-recommends -yq \
-    autoconf \
-    automake \
     build-essential \
     casync \
     clang \
     curl \
     gpiod \
     libarchive-dev \
-    libass-dev \
     libcurl4-openssl-dev \
     libczmq-dev \
     libdbus-1-dev \
     libffi-dev \
     libfreetype6-dev \
-    libglfw3-dev \
     libglib2.0-0t64 \
     libi2c-dev \
     liblzma-dev \
     libomp-dev \
     libportaudio2 \
-    libsdl2-dev \
     libsqlite3-dev \
-    libtool \
     libusb-1.0-0-dev \
     libuv1-dev \
-    libva-dev \
-    libvdpau-dev \
-    libvorbis-dev \
-    libxcb-icccm4 \
-    libxcb-image0 \
-    libxcb-keysyms1 \
-    libxcb-render-util0 \
-    libxcb-shm0-dev \
-    libxcb-xfixes0-dev \
-    libxcb-xinerama0 \
-    libxcb-xinput0 \
-    libxcb-xkb1 \
-    libxcb1-dev \
-    libxkbcommon-x11-0 \
     locales \
-    nethogs \
     pkg-config \
-    portaudio19-dev \
-    texinfo \
-    vnstat \
     wget \
-    xvfb \
     zlib1g-dev

userspace/root/etc/udev/rules.d/mountpartitions.rules

@@ -0,0 +1,3 @@
+# Create Android-style boot partition links for vendor services.
+KERNEL=="mmcblk[0-9]*p[0-9]*", SUBSYSTEM=="block", ACTION=="add", RUN+="/etc/udev/scripts/bootdevice-by-name.sh %k"
+KERNEL=="[hs]d[a-z][0-9]*", SUBSYSTEM=="block", ACTION=="add", RUN+="/etc/udev/scripts/bootdevice-by-name.sh %k"

userspace/root/etc/udev/scripts/bootdevice-by-name.sh

@@ -0,0 +1,22 @@
+#!/bin/sh
+set -e
+
+dev="$1"
+uevent="/sys/class/block/$dev/uevent"
+
+[ -e "$uevent" ] || exit 0
+
+boot_dev="$(sed -n 's/.*androidboot.bootdevice=\([^ ]*\).*/\1/p' /proc/cmdline | awk '{print $NF}')"
+[ -n "$boot_dev" ] || exit 0
+
+real_sysfs_path="$(realpath "/sys/class/block/$dev")"
+case "$real_sysfs_path" in
+  *"$boot_dev"*) ;;
+  *) exit 0 ;;
+esac
+
+partition_name="$(sed -n 's/^PARTNAME=//p' "$uevent")"
+[ -n "$partition_name" ] || exit 0
+
+mkdir -p /dev/block/bootdevice/by-name
+ln -sf "/dev/$dev" "/dev/block/bootdevice/by-name/$partition_name"

userspace/root/lib/systemd/system/adsprpcd.service

@@ -1,15 +0,0 @@
-# Copyright (c) 2017 Qualcomm Technologies, Inc.
-# All Rights Reserved.
-# Confidential and Proprietary - Qualcomm Technologies, Inc.
-#
-
-[Unit]
-Description=adsprpc Service
-SourcePath= /usr/bin/adsprpcd
-
-[Service]
-Restart=always
-ExecStart= /usr/bin/adsprpcd
-
-[Install]
-WantedBy=multi-user.target

userspace/root/lib/systemd/system/cdsprpcd.service

@@ -1,15 +0,0 @@
-# Copyright (c) 2018 Qualcomm Technologies, Inc.
-# All Rights Reserved.
-# Confidential and Proprietary - Qualcomm Technologies, Inc.
-#
-
-[Unit]
-Description=cdsprpc Service
-SourcePath= /usr/bin/cdsprpcd
-
-[Service]
-Restart=always
-ExecStart= /usr/bin/cdsprpcd
-
-[Install]
-WantedBy=multi-user.target

userspace/root/lib/systemd/system/irsc_util.service

@@ -1,15 +1,10 @@
-# Copyright (c) 2017 Qualcomm Technologies, Inc.
-# All Rights Reserved.
-# Confidential and Proprietary - Qualcomm Technologies, Inc.
-#
-
 [Unit]
-Description= irsc-util Service
+Description=IRSC util Service
 SourcePath=/usr/bin/irsc_util
 DefaultDependencies=no
 
 [Service]
-Restart=no
+Type=oneshot
 RemainAfterExit=yes
 ExecStart=/usr/bin/irsc_util /etc/sec_config
 

userspace/root/lib/systemd/system/sysinit.target.wants/irsc_util.service

@@ -1 +0,0 @@
-/lib/systemd/system/irsc_util.service

userspace/root/usr/lib/aarch64-linux-gnu/libEGL.so

@@ -1 +1 @@
-libEGL.so.1.0.0
+libEGL_adreno.so

userspace/root/usr/lib/aarch64-linux-gnu/libEGL.so.1

@@ -1 +1 @@
-libEGL.so.1.0.0
+libEGL_adreno.so

userspace/root/usr/lib/aarch64-linux-gnu/libEGL.so.1.0

@@ -1 +1 @@
-libEGL.so.1.0.0
+libEGL_adreno.so

userspace/root/usr/lib/aarch64-linux-gnu/libGLESv2.so

@@ -1 +1 @@
-libGLESv2.so.2.0.0
+libGLESv2_adreno.so

userspace/root/usr/lib/aarch64-linux-gnu/libGLESv2.so.2

@@ -1 +1 @@
-libGLESv2.so.2.0.0
+libGLESv2_adreno.so

userspace/root/usr/lib/aarch64-linux-gnu/libGLESv2.so.2.0

@@ -1 +1 @@
-libGLESv2.so.2.0.0
+libGLESv2_adreno.so

userspace/root/usr/lib/aarch64-linux-gnu/libOpenCL.so

@@ -0,0 +1 @@
+libOpenCL.so.1.0.0

userspace/root/usr/lib/aarch64-linux-gnu/libgbm.so

@@ -0,0 +1 @@
+libgbm.so.1

userspace/root/usr/lib/aarch64-linux-gnu/libwayland-egl.so

@@ -0,0 +1 @@
+libwayland-egl.so.1

userspace/root/usr/lib/aarch64-linux-gnu/libwaylandegl.so

@@ -0,0 +1 @@
+libwayland-egl.so.1

userspace/root/usr/lib/arm-linux-gnueabihf/hw/gralloc.default.so

@@ -1 +0,0 @@
-/usr/lib/libgralloc.so

userspace/root/usr/lib/arm-linux-gnueabihf/libEGL.so

@@ -1 +0,0 @@
-libEGL.so.1.0.0

userspace/root/usr/lib/arm-linux-gnueabihf/libEGL.so.1

@@ -1 +0,0 @@
-libEGL.so.1.0.0

userspace/root/usr/lib/arm-linux-gnueabihf/libEGL.so.1.0

@@ -1 +0,0 @@
-libEGL.so.1.0.0

userspace/root/usr/lib/arm-linux-gnueabihf/libEGL.so.1.0.0

@@ -1 +0,0 @@
-libEGL_adreno.so

userspace/root/usr/lib/arm-linux-gnueabihf/libGLESv1_CM.so

@@ -1 +0,0 @@
-libGLESv1_CM.so.1.0.0

userspace/root/usr/lib/arm-linux-gnueabihf/libGLESv1_CM.so.1

@@ -1 +0,0 @@
-libGLESv1_CM.so.1.0.0

userspace/root/usr/lib/arm-linux-gnueabihf/libGLESv1_CM.so.1.0

@@ -1 +0,0 @@
-libGLESv1_CM.so.1.0.0

userspace/root/usr/lib/arm-linux-gnueabihf/libGLESv1_CM.so.1.0.0

@@ -1 +0,0 @@
-libGLESv1_CM_adreno.so

userspace/root/usr/lib/arm-linux-gnueabihf/libGLESv2.so

@@ -1 +0,0 @@
-libGLESv2.so.2.0.0

userspace/root/usr/lib/arm-linux-gnueabihf/libGLESv2.so.2

@@ -1 +0,0 @@
-libGLESv2.so.2.0.0

userspace/root/usr/lib/arm-linux-gnueabihf/libGLESv2.so.2.0

@@ -1 +0,0 @@
-libGLESv2.so.2.0.0

userspace/root/usr/lib/arm-linux-gnueabihf/libGLESv2.so.2.0.0

@@ -1 +0,0 @@
-libGLESv2_adreno.so

userspace/root/usr/lib/arm-linux-gnueabihf/libbinder.so.0

@@ -1 +0,0 @@
-libbinder.so.0.0.0

userspace/root/usr/lib/arm-linux-gnueabihf/libcutils.so.0

@@ -1 +0,0 @@
-libcutils.so.0.0.0

userspace/root/usr/lib/arm-linux-gnueabihf/libhardware.so.0

@@ -1 +0,0 @@
-libhardware.so.0.0.0

userspace/root/usr/lib/arm-linux-gnueabihf/liblog.so.0

@@ -1 +0,0 @@
-liblog.so.0.0.0

userspace/root/usr/lib/arm-linux-gnueabihf/liblogwrap.so.0

@@ -1 +0,0 @@
-liblogwrap.so.0.0.0

userspace/root/usr/lib/arm-linux-gnueabihf/libpcre.so.1

@@ -1 +0,0 @@
-libpcre.so.1.2.6

userspace/root/usr/lib/arm-linux-gnueabihf/libsync.so.0

@@ -1 +0,0 @@
-libsync.so.0.0.0

userspace/root/usr/lib/arm-linux-gnueabihf/libutils.so.0

@@ -1 +0,0 @@
-libutils.so.0.0.0

userspace/services.sh

@@ -1,10 +1,9 @@
 #!/bin/bash -e
 
 # Enable DSP support services
+systemctl enable irsc_util.service
 systemctl enable adsp
 systemctl enable cdsp
-systemctl enable adsprpcd
-systemctl enable cdsprpcd
 
 # Enable our services
 systemctl enable fs_setup.service
@@ -32,10 +31,6 @@ systemctl enable screen_calibration.service
 # Disable some of our services
 systemctl disable agnos-tests.service
 
-# Disable third party services
-systemctl disable darkstat.service
-systemctl disable vnstat.service
-
 # Disable SSH by default
 systemctl disable ssh
 
@@ -78,10 +73,5 @@ systemctl disable remote-fs-pre.target
 # no influence on any interface, all interfaces work fine
 systemctl disable networking.service
 
-# TODO: this doesn't actually disable unless run twice...
-# Service fails with Status: "No devices to monitor"
-systemctl disable smartd.service
-systemctl disable smartd.service
-
 systemctl disable console-setup.service
 systemctl disable sfsconfig.service