upgrade to latest scarthgap, build aarch64 SDKs

.github/workflows/yocto_cicd.yml → .github/workflows/cicd.yml

@@ -1,8 +1,8 @@
-name: Yocto CI/CD
+name: CI/CD
 on: push
 jobs:
   cicd:
-    name: Yocto CI/CD
+    name: CI/CD
     runs-on:
       - self-hosted
       - v3
@@ -17,13 +17,15 @@ jobs:
           fetch-depth: 0
           path: meta-nao
       - name: Checkout Yocto layers
-        run: kas checkout meta-nao/kas-project.yml
+        run: kas checkout meta-nao/kas/base.yml:meta-nao/kas/hulks.yml
       - name: Populate aldebaran_binaries.tar.gz
         run: mkdir -p meta-nao/meta/recipes-support/aldebaran/aldebaran-binaries/ && cp /aldebaran_binaries.tar.gz meta-nao/meta/recipes-support/aldebaran/aldebaran-binaries/
       - name: Build image
-        run: kas build --target nao-image --cmd build meta-nao/kas-project.yml
-      - name: Build SDK
-        run: kas build --target nao-image --cmd populate_sdk meta-nao/kas-project.yml
+        run: kas build --target nao-image --cmd build meta-nao/kas/base.yml:meta-nao/kas/hulks.yml
+      - name: Build SDK (x86_64)
+        run: kas build --target nao-image --cmd populate_sdk meta-nao/kas/base.yml:meta-nao/kas/hulks.yml
+      - name: Build SDK (aarch64)
+        run: kas build --target nao-image --cmd populate_sdk meta-nao/kas/base.yml:meta-nao/kas/hulks.yml:meta-nao/kas/aarch64.yml
       - name: Release
         uses: softprops/action-gh-release@v1
         if: startsWith(github.ref, 'refs/tags/')
@@ -32,5 +34,6 @@ jobs:
           body: Flashable image containing HULKs-OS ${{ github.ref_name }} and the corresponding SDK with the toolchain and other tools targeting HULKs-OS, for instructions see https://hulks.de/hulk/setup/overview/
           files: |
             build/tmp/deploy/images/nao-v6/nao-image-HULKs-OS-${{ github.ref_name }}.ext3.gz.opn
-            build/tmp/deploy/sdk/HULKs-OS-toolchain-${{ github.ref_name }}.sh
+            build/tmp/deploy/sdk/HULKs-OS-x86_64-toolchain-${{ github.ref_name }}.sh
+            build/tmp/deploy/sdk/HULKs-OS-aarch64-toolchain-${{ github.ref_name }}.sh
           fail_on_unmatched_files: true

README.md

@@ -12,7 +12,7 @@ As this is a very first attempt with the Yocto project and image construction fo
 
 2. For project setup the [siemens/kas](https://github.com/siemens/kas) framework is used. To setup *kas* use the containerized (podman/docker) version via the `kas-container` script provided [here](https://github.com/siemens/kas/blob/master/kas-container) and store it inside the `worktree` directory. Alternatively setup *kas* via a *python-pip* installation, follow the installation steps in the [user guide](https://kas.readthedocs.io/en/latest/userguide.html).
 
-3. *meta-nao* ships a `kas-project.yml` project description file. This file defines the project structure *kas* has to setup for the Yocto build phase.
+3. *meta-nao* ships multiple `kas-project.yml` project description file. This file defines the project structure *kas* has to setup for the Yocto build phase.
 Clone the *meta-nao* repository into some directory used for the Yocto build e.g. `worktree/meta-nao`.
 
 ```
@@ -29,10 +29,10 @@ mkdir -p aldebaran-binaries
 
 The script references the original robocupper image shipped by softbank. Contact the RoboCup SPL TC to get this image. If you get errors regarding `libguestfs` and `supermin`, try running `./extract_binaries.sh` with root permissions again.
 
-5. Execute *kas* from inside the `worktree` directory referencing the `kas-project.yml` to enter the build environment
+5. Execute *kas* from inside the `worktree` directory referencing the project description files to enter the build environment
 
 ```
-./kas-container -d shell meta-nao/kas-project.yml
+./kas-container shell meta-nao/kas/base.yml:meta-nao/kas/hulks.yml
 ```
 
 *kas* fetches all necessary build sources and sets them up in the respective `worktree` directory. After *kas* has setup the working directory, your directory structure should look like this:
@@ -58,7 +58,7 @@ bitbake nao-image
 
 This generates and executes all necessary tasks and targets to construct a proper `.opn` file. This build phase might take several hours depending on the performance of your build machine and your internet connection. *BitBake* uses a very elaborated caching strategy to speed up following builds of targets. Thus small changes afterwards can only take a few minutes.
 
-7. Fetch and deploy the image. After *BitBake* ran all tasks up to `nao-opn` a new `.opn` file is generated in `worktree/build/tmp/deploy/images/nao-v6/nao-image-HULKs-OS-[...].ext3.gz.opn`. To setup a flash stick run:
+7. Fetch and deploy the image. After *BitBake* ran all tasks up to `nao-opn` a new `.opn` file is generated in `worktree/build/tmp/deploy/images/nao-v6/nao-image-HULKs-OS-[VERSION].ext3.gz.opn`. To setup a flash stick run:
 
 ```
 dd if=image_path.opn of=/dev/sdb bs=4M status=progress oflag=sync
@@ -68,30 +68,31 @@ dd if=image_path.opn of=/dev/sdb bs=4M status=progress oflag=sync
 
 ### How can I log into the robot?
 
-The login credentials for user *root* and *nao* are defined in `meta-nao/recipes-core/images/nao-image.bb`.
+The login credentials for user *root* and *nao* are defined in `meta-nao/meta/recipes-core/images/nao-image.bb`.
 Per default the nao user has an empty password.
 The password of the root user is *root*.
 
 ### How can I configure IP addresses?
 
-Currently there is no proper network manager installed. This means, networking is controlled via *systemd-networkd* and respective `.network` units. This might change in the future. Team HULKs did not yet decide on the best way to go. Up until now you can configure the network via `wpa_supplicant.conf` and proper `.network` files. Have a look at `meta-nao/recipes-conf/nao-wifi-conf/nao-wifi-conf/80-wlan.network` and `meta-nao/recipes-conf/nao-wifi-conf/nao-wifi-conf/wpa_supplicant-nl80211-wlan0.conf`.
-If you have suggestions how to tackle the network configuration problem, please let us know.
+Networking is controlled via *systemd-networkd* and respective `.network` units. You can configure the network via `wpa_supplicant.conf` and respective `.network` files. Have a look at `meta-nao/meta/recipes-conf/nao-wifi-conf/nao-wifi-conf/80-wlan.network` and `meta-nao/meta/recipes-conf/nao-wifi-conf/nao-wifi-conf/wpa_supplicant-nl80211-wlan0.conf`.
 
 ### How can I customize the image?
 
-The Yocto Project is organized in layers. You can edit the existing *meta-nao* layer or (better) add an additional layer alongside *meta-nao*, *meta-openembedded*, etc. to overlay configuration in other layers. Have a look at [meta-example](https://github.com/HULKs/meta-example) for an example overlay extending the nao image by the *boost* library.
+The Yocto Project is organized in layers. You can edit the existing *meta-nao/meta* layer or (better) add an additional layer alongside *meta-nao*, *meta-openembedded*, etc. to overlay configuration in other layers. Have a look at [meta-example](https://github.com/HULKs/meta-example) for an example overlay extending the nao image by the *boost* library.
 You can use [https://layers.openembedded.org/layerindex/branch/master/recipes/](https://layers.openembedded.org/layerindex/branch/master/recipes/) to search for existing recipes.
 
 ### How do I target the nao architecture during development?
 
-The Yocto project contains tasks to build a proper SDK to use for development. To build the sdk do the following:
+The Yocto project contains tasks to build a proper SDK to use for development. To build the SDK do the following:
 
 1. Enter the build container
 
 ```
-./kas-container -d shell meta-nao/kas-project.yml
+./kas-container -d shell meta-nao/kas/base.yml:meta-nao/kas/hulks.yml
 ```
 
+You can append the `aarch64.yml` project description to configure Yocto for building a aarch64 SDK.
+
 2. Build the SDK (from inside the container)
 
 ```
@@ -102,7 +103,7 @@ This again takes several hours. On machines at HULKs this can take up to 4 hours
 
 3. Download and install the SDK
 
-After a successful build, the SDK is located at `worktree/build/tmp/deploy/sdk/HULKs-OS-toolchain-[...].sh`. To install the SDK run the script and follow the instructions. Afterwards you are able to source the build environment and use the respective cross compilers.
+After a successful build, the SDK is located at `worktree/build/tmp/deploy/sdk/HULKs-OS-[MACHINE]-toolchain-[VERSION].sh`. To install the SDK run the script and follow the instructions. Afterwards you are able to source the build environment and use the respective cross compilers.
 
 
 ## Links and Resources

kas/aarch64.yml

@@ -0,0 +1,6 @@
+header:
+  version: 14
+
+local_conf_header:
+  aarch64-sdk: |
+    SDKMACHINE = "aarch64"

kas-project.yml → kas/base.yml

@@ -2,23 +2,23 @@ header:
   version: 14
 
 machine: nao-v6
-distro: HULKs-OS
+distro: nao-core-minimal
 target: nao-image
+
 local_conf_header:
   meta-nao: |
     CONF_VERSION = "2"
-    SDK_TOOLCHAIN_LANGS ?= "rust"
     PACKAGE_CLASSES ?= "package_ipk"
-    CLANGSDK = "1"
     EXTRA_IMAGE_FEATURES += "allow-empty-password"
+    CLANGSDK = "1"
+
 repos:
   meta-nao:
     layers:
       meta:
-      meta-hulks:
   poky:
     url: "https://git.yoctoproject.org/git/poky"
-    commit: ca93c215fdd2e0f3b0ab4a205ccf80e5077e5d06
+    commit: ae6cebca5bac9521230c69fed23b375d0de7f5f6
     layers:
       meta:
       meta-poky:
@@ -42,17 +42,13 @@ repos:
         path: "patches/0002-congatec-new-override-syntax.patch"
   meta-clang:
     url: "https://github.com/kraj/meta-clang.git"
-    commit: 989ff6a4e7db59f01d511727135610006124ead2
+    commit: e7dceb1c92caf7f21ef1d7b49c85328c30cffd90
   meta-intel:
     url: "https://git.yoctoproject.org/git/meta-intel"
-    commit: bdb3a52062a1290302674c05398e950f915d10f9
-    patches:
-      0005-downgrade_openvino_to_2023.3.0:
-        repo: "meta-nao"
-        path: "patches/0005-downgrade_openvino_to_2023.3.0.patch"
+    commit: c8cd0317ec19332bce86697f3413a82b9828b329
   meta-openembedded:
     url: "https://git.openembedded.org/meta-openembedded"
-    commit: cf942682b8ff5b30393f1f60a1a4d37571c0d1ba
+    commit: 4a7bb77f7ebe0ac8be5bab5103d8bd993e17e18d
     layers:
       meta-oe:
       meta-multimedia:

kas/hulks.yml

@@ -0,0 +1,12 @@
+header:
+  version: 14
+
+distro: HULKs-OS
+local_conf_header:
+  meta-hulks: |
+    SDK_TOOLCHAIN_LANGS ?= "rust"
+
+repos:
+  meta-nao:
+    layers:
+      meta-hulks:

meta-hulks/conf/distro/HULKs-OS.conf

@@ -4,5 +4,5 @@ SUMMARY = "HULKs flavoured Poky"
 
 DISTRO = "HULKs-OS"
 DISTRO_NAME = "HULKs-OS"
-DISTRO_VERSION = "7.4.2"
+DISTRO_VERSION = "7.5.0"
 SDKIMAGE_FEATURES:remove = "dbg-pkgs src-pkgs"

meta-hulks/recipes-core/images/nao-image.bbappend

@@ -11,6 +11,7 @@ CORE_IMAGE_EXTRA_INSTALL += "\
                              iproute2 \
                              jq \
                              libxml2-utils \
+                             libcap-bin \
                              libogg \
                              libopus \
                              nano \

meta/conf/distro/nao-core-minimal.conf

@@ -5,7 +5,7 @@ SUMMARY = "A small image just capable of allowing a device to boot."
 DISTRO = "nao-core-minimal"
 DISTRO_NAME = "nao-core-minimal"
 DISTRO_VERSION = "2.0"
-SDK_NAME = "${DISTRO}"
+SDK_NAME = "${DISTRO}-${SDKMACHINE}"
 TARGET_VENDOR = "-aldebaran"
 SDK_VENDOR = "-naosdk"
 SDK_ARCHIVE_TYPE = "tar.zst"