Moving raspberry pi rootfs creation to frc971 and updating
Upgrade to opencv 4.5, and using legacy camera driver for now
Added some additional comments and a timestamp / tracker on changes to the image
Change-Id: Iaf22f8e527b8147a5d73161a7292f78ce3114801
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>
diff --git a/frc971/raspi/rootfs/modify_rootfs.sh b/frc971/raspi/rootfs/modify_rootfs.sh
new file mode 100755
index 0000000..a340c64
--- /dev/null
+++ b/frc971/raspi/rootfs/modify_rootfs.sh
@@ -0,0 +1,109 @@
+#!/bin/bash
+
+set -xe
+
+# Full path to Raspberry Pi Bullseye disk image
+IMAGE="2021-10-30-raspios-bullseye-armhf-lite.img"
+BOOT_PARTITION="${IMAGE}.boot_partition"
+PARTITION="${IMAGE}.partition"
+
+function target() {
+ HOME=/root/ USER=root sudo proot -0 -q qemu-arm-static -w / -r "${PARTITION}" "$@"
+}
+
+function user_pi_target() {
+ USER=root sudo proot -0 -q qemu-arm-static -w / -r "${PARTITION}" sudo -h 127.0.0.1 -u pi "$@"
+}
+
+
+mkdir -p "${PARTITION}"
+mkdir -p "${BOOT_PARTITION}"
+
+if mount | grep "${BOOT_PARTITION}" >/dev/null ;
+then
+ echo "Already mounted"
+else
+ OFFSET="$(/sbin/fdisk -lu "${IMAGE}" | grep "${IMAGE}1" | awk '{print 512*$2}')"
+ sudo mount -o loop,offset=${OFFSET} "${IMAGE}" "${BOOT_PARTITION}"
+fi
+
+# Enable the camera on boot.
+if ! grep "start_x=1" "${BOOT_PARTITION}/config.txt"; then
+ echo "start_x=1" | sudo tee -a "${BOOT_PARTITION}/config.txt"
+fi
+if ! grep "gpu_mem=128" "${BOOT_PARTITION}/config.txt"; then
+ echo "gpu_mem=128" | sudo tee -a "${BOOT_PARTITION}/config.txt"
+fi
+# For now, disable the new libcamera driver in favor of legacy ones
+sudo sed -i s/^camera_auto_detect=1/#camera_auto_detect=1/ "${BOOT_PARTITION}/config.txt"
+
+# Seeing a race condition with umount, so doing lazy umount
+sudo umount -l "${BOOT_PARTITION}"
+rmdir "${BOOT_PARTITION}"
+
+if mount | grep "${PARTITION}" >/dev/null ;
+then
+ echo "Already mounted"
+else
+ OFFSET="$(/sbin/fdisk -lu "${IMAGE}" | grep "${IMAGE}2" | awk '{print 512*$2}')"
+
+ if [[ "$(stat -c %s "${IMAGE}")" < 2000000000 ]]; then
+ echo "Growing image"
+ dd if=/dev/zero bs=1G count=1 >> "${IMAGE}"
+ START="$(/sbin/fdisk -lu "${IMAGE}" | grep "${IMAGE}2" | awk '{print $2}')"
+
+ sed -e 's/\s*\([\+0-9a-zA-Z]*\).*/\1/' << EOF | /sbin/fdisk "${IMAGE}"
+ d # remove old partition
+ 2
+ n # new partition
+ p # primary partition
+ 2 # partion number 2
+ 532480 # start where the old one starts
+ # To the end
+ p # print the in-memory partition table
+ w # Flush
+ q # and we're done
+EOF
+
+ sudo losetup -o "${OFFSET}" -f "${IMAGE}"
+ LOOPBACK="$(sudo losetup --list | grep "${IMAGE}" | awk '{print $1}')"
+ sudo e2fsck -f "${LOOPBACK}"
+ sudo resize2fs "${LOOPBACK}"
+ sudo losetup -d "${LOOPBACK}"
+ fi
+
+ echo "Mounting"
+ sudo mount -o loop,offset=${OFFSET} "${IMAGE}" "${PARTITION}"
+fi
+
+sudo cp target_configure.sh "${PARTITION}/tmp/"
+sudo cp dhcpcd.conf "${PARTITION}/tmp/dhcpcd.conf"
+sudo cp sctp.conf "${PARTITION}/etc/sysctl.d/sctp.conf"
+sudo cp logind.conf "${PARTITION}/etc/systemd/logind.conf"
+sudo cp change_hostname.sh "${PARTITION}/tmp/change_hostname.sh"
+sudo cp frc971.service "${PARTITION}/etc/systemd/system/frc971.service"
+sudo cp rt.conf "${PARTITION}/etc/security/limits.d/rt.conf"
+sudo cp usb-mount@.service "${PARTITION}/etc/systemd/system/usb-mount@.service"
+sudo cp 99-usb-mount.rules "${PARTITION}/etc/udev/rules.d/99-usb-mount.rules"
+
+target /bin/mkdir -p /home/pi/.ssh/
+cat ~/.ssh/id_rsa.pub | target tee /home/pi/.ssh/authorized_keys
+
+# Downloads and installs our target libraries
+target /bin/bash /tmp/target_configure.sh
+
+# Add a file to show when this image was last modified and by whom
+TIMESTAMP_FILE="${PARTITION}/home/pi/.ImageModifiedDate.txt"
+date > "${TIMESTAMP_FILE}"
+git rev-parse HEAD >> "${TIMESTAMP_FILE}"
+whoami >> "${TIMESTAMP_FILE}"
+
+# Run a prompt as root inside the target to poke around and check things.
+target /bin/bash --rcfile /root/.bashrc
+
+sudo umount -l "${PARTITION}"
+rmdir "${PARTITION}"
+
+# Move the image to a different name, to indicated we've modified it
+MOD_IMAGE_NAME=`echo ${IMAGE} | sed s/.img/-frc-mods.img/`
+mv ${IMAGE} ${MOD_IMAGE_NAME}