A couple small mods to the orin build scripts
Also a small cleanup to viewer.cc includes
Change-Id: Ib3df244d5c114ff48674cee2d8700d95bbe67275
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>
diff --git a/frc971/orin/build_rootfs.py b/frc971/orin/build_rootfs.py
index ddbb853..bf1968e 100755
--- a/frc971/orin/build_rootfs.py
+++ b/frc971/orin/build_rootfs.py
@@ -9,10 +9,13 @@
import os
import shutil
+# Name of debian image to be created/modified
IMAGE = "arm64_bookworm_debian_yocto.img"
+
+# Path to yocto build for the orin (using meta-frc971)
YOCTO = "/home/austin/local/jetpack/robot-yocto/build"
-REQUIRED_DEPS = ["debootstrap", "u-boot-tools"]
+REQUIRED_DEPS = ["debootstrap", "u-boot-tools", "xfsprogs"]
@contextlib.contextmanager
@@ -63,10 +66,12 @@
if len(missing_deps) > 0:
print("Missing dependencies, please install:")
print("sudo apt-get install", " ".join(missing_deps))
+ exit()
def make_image(image):
"""Makes an image and creates an xfs filesystem on it."""
+ print("Creating image ", f"{image}")
result = subprocess.run([
"dd", "if=/dev/zero", f"of={image}", "bs=1", "count=0",
"seek=8589934592"
@@ -122,7 +127,7 @@
def target_mkdir(owner_group, permissions, folder):
"""Creates a directory recursively with the provided permissions and ownership."""
print("target_mkdir", owner_group, permissions, folder)
- owner, group = owner_group.split('.')
+ owner, group = owner_group.split(':')
target(
["install", "-d", "-m", permissions, "-o", owner, "-g", group, folder])
@@ -260,7 +265,7 @@
if not os.path.exists(
f"{partition}/etc/apt/sources.list.d/bullseye-backports.list"):
- copyfile("root.root", "644",
+ copyfile("root:root", "644",
"etc/apt/sources.list.d/bullseye-backports.list")
target(["apt-get", "update"])
@@ -271,10 +276,10 @@
target(["localedef", "-i", "en_US", "-f", "UTF-8", "en_US.UTF-8"])
- target_mkdir("root.root", "755", "run/systemd")
- target_mkdir("systemd-resolve.systemd-resolve", "755",
+ target_mkdir("root:root", "755", "run/systemd")
+ target_mkdir("systemd-resolve:systemd-resolve", "755",
"run/systemd/resolve")
- copyfile("systemd-resolve.systemd-resolve", "644",
+ copyfile("systemd-resolve:systemd-resolve", "644",
"run/systemd/resolve/stub-resolv.conf")
target(["systemctl", "enable", "systemd-resolved"])
@@ -396,28 +401,28 @@
target(["systemctl", "enable", "nvargus-daemon.service"])
- copyfile("root.root", "644", "etc/sysctl.d/sctp.conf")
- copyfile("root.root", "644", "etc/systemd/logind.conf")
- copyfile("root.root", "555",
+ copyfile("root:root", "644", "etc/sysctl.d/sctp.conf")
+ copyfile("root:root", "644", "etc/systemd/logind.conf")
+ copyfile("root:root", "555",
"etc/bash_completion.d/aos_dump_autocomplete")
- copyfile("root.root", "644", "etc/security/limits.d/rt.conf")
- copyfile("root.root", "644", "etc/systemd/system/usb-mount@.service")
- copyfile("root.root", "644", "etc/chrony/chrony.conf")
- target_mkdir("root.root", "700", "root/bin")
- target_mkdir("pi.pi", "755", "home/pi/.ssh")
- copyfile("pi.pi", "600", "home/pi/.ssh/authorized_keys")
- target_mkdir("root.root", "700", "root/bin")
- copyfile("root.root", "644", "etc/systemd/system/grow-rootfs.service")
- copyfile("root.root", "500", "root/bin/change_hostname.sh")
- copyfile("root.root", "700", "root/trace.sh")
- copyfile("root.root", "440", "etc/sudoers")
- copyfile("root.root", "644", "etc/fstab")
- copyfile("root.root", "644",
+ copyfile("root:root", "644", "etc/security/limits.d/rt.conf")
+ copyfile("root:root", "644", "etc/systemd/system/usb-mount@.service")
+ copyfile("root:root", "644", "etc/chrony/chrony.conf")
+ target_mkdir("root:root", "700", "root/bin")
+ target_mkdir("pi:pi", "755", "home/pi/.ssh")
+ copyfile("pi:pi", "600", "home/pi/.ssh/authorized_keys")
+ target_mkdir("root:root", "700", "root/bin")
+ copyfile("root:root", "644", "etc/systemd/system/grow-rootfs.service")
+ copyfile("root:root", "500", "root/bin/change_hostname.sh")
+ copyfile("root:root", "700", "root/trace.sh")
+ copyfile("root:root", "440", "etc/sudoers")
+ copyfile("root:root", "644", "etc/fstab")
+ copyfile("root:root", "644",
"var/nvidia/nvcam/settings/camera_overrides.isp")
- target_mkdir("root.root", "755", "etc/systemd/network")
- copyfile("root.root", "644", "etc/systemd/network/eth0.network")
- copyfile("root.root", "644", "etc/systemd/network/80-can.network")
+ target_mkdir("root:root", "755", "etc/systemd/network")
+ copyfile("root:root", "644", "etc/systemd/network/eth0.network")
+ copyfile("root:root", "644", "etc/systemd/network/80-can.network")
target(["/root/bin/change_hostname.sh", "pi-971-1"])
target(["systemctl", "enable", "systemd-networkd"])
diff --git a/frc971/orin/doflash_frc971.sh b/frc971/orin/doflash_frc971.sh
old mode 100644
new mode 100755
diff --git a/y2023/vision/viewer.cc b/y2023/vision/viewer.cc
index 0af7e0e..e03680c 100644
--- a/y2023/vision/viewer.cc
+++ b/y2023/vision/viewer.cc
@@ -1,6 +1,5 @@
#include "absl/strings/match.h"
-#include "opencv2/calib3d.hpp"
-#include "opencv2/imgproc.hpp"
+#include <opencv2/calib3d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc.hpp>