Merge branch 'master' into limelight-testing

.github/workflows/main.yml

@@ -17,7 +17,7 @@ jobs:
         include:
           - name: limelight
             script: ./install_limelight.sh
-            base_image: https://downloads.raspberrypi.com/raspios_lite_arm64/images/raspios_lite_arm64-2024-07-04/2024-07-04-raspios-bookworm-arm64-lite.img.xz
+<           base_image: https://downloads.raspberrypi.com/raspios_lite_arm64/images/raspios_lite_arm64-2024-07-04/2024-07-04-raspios-bookworm-arm64-lite.img.xz
           # - name: limelight3
           #   script: ./install_limelight3.sh
           #   base_image: https://downloads.raspberrypi.com/raspios_lite_arm64/images/raspios_lite_arm64-2024-07-04/2024-07-04-raspios-bookworm-arm64-lite.img.xz
@@ -33,7 +33,6 @@ jobs:
           # - name: opi5plus
           #   script: ./install_opi5.sh
           #   base_image: https://github.com/Joshua-Riek/ubuntu-rockchip/releases/download/v2.1.0/ubuntu-24.04-preinstalled-server-arm64-orangepi-5-plus.img.xz
-
 
     name: "Build for ${{ matrix.name }}"
 
@@ -59,7 +58,7 @@ jobs:
         mv ${{ steps.install_deps.outputs.image }} photonvision_${{ matrix.name }}.img
         sudo xz -T 0 -v photonvision_${{ matrix.name }}.img
 
-    - uses: actions/[email protected].3
+    - uses: actions/[email protected].4
       with:
         name: photonvision_${{ matrix.name }}.img.xz
         path: photonvision_${{ matrix.name }}.img.xz
@@ -71,7 +70,7 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       # Download literally every single artifact
-      - uses: actions/[email protected].7
+      - uses: actions/[email protected].8
       - run: find
       # Push to dev release
       - uses: pyTooling/Actions/[email protected]
@@ -83,7 +82,7 @@ jobs:
             **/*.xz
         if: github.event_name == 'push'
       # Upload all xz archives to GH tag if tagged
-      - uses: softprops/[email protected].6
+      - uses: softprops/[email protected].8
         with:
           files: |
             **/*.xz

OPi5_CIDATA/meta-data

@@ -0,0 +1,18 @@
+# This is the meta-data configuration file for cloud-init. Please refer to the
+# cloud-init documentation for more information:
+#
+# https://cloudinit.readthedocs.io/
+
+# Set the datasource mode to "local". This ensures that user-data is acted upon
+# prior to bringing up the network (because everything about the datasource is
+# assumed to be local). If you wish to use an HTTP datasource instead, you can
+# change this to "net" or override it on the kernel cmdline (see README).
+dsmode: local
+
+# Specifies the "unique" identifier of the instance. Typically in cloud-init
+# this is generated by the owning cloud and is actually unique (to some
+# degree). Here our data-source is local, so this is just a fixed string.
+# Warning: changing this will cause cloud-init to assume it is running on a
+# "new" instance, and to go through first time setup again (the value is
+# compared to a cached copy).
+instance-id: cloud-image

OPi5_CIDATA/network-config

@@ -0,0 +1,35 @@
+# This file contains a netplan-compatible configuration which cloud-init will
+# apply on first-boot (note: it will *not* update the config after the first
+# boot). Please refer to the cloud-init documentation and the netplan reference
+# for full details:
+#
+# https://netplan.io/reference
+# https://cloudinit.readthedocs.io/en/latest/topics/network-config.html
+# https://cloudinit.readthedocs.io/en/latest/topics/network-config-format-v2.html
+#
+# Please note that the YAML format employed by this file is sensitive to
+# differences in whitespace; if you are editing this file in an editor (like
+# Notepad) which uses literal tabs, take care to only use spaces for
+# indentation. See the following link for more details:
+#
+# https://en.wikipedia.org/wiki/YAML
+
+# Some additional examples are commented out below
+
+network:
+  version: 2
+  renderer: NetworkManager
+  ethernets:
+    zz-all-en:
+      renderer: NetworkManager
+      match:
+        name: "en*"
+      dhcp4: true
+      optional: true
+    zz-all-eth:
+      renderer: NetworkManager
+      match:
+        name: "eth*"
+      dhcp4: true
+      optional: true
+

OPi5_CIDATA/user-data

@@ -0,0 +1,118 @@
+#cloud-config
+
+# This is the user-data configuration file for cloud-init. By default this sets
+# up an initial user called "ubuntu" with password "ubuntu", which must be
+# changed at first login. However, many additional actions can be initiated on
+# first boot from this file. The cloud-init documentation has more details:
+#
+# https://cloudinit.readthedocs.io/
+#
+# Please note that the YAML format employed by this file is sensitive to
+# differences in whitespace; if you are editing this file in an editor (like
+# Notepad) which uses literal tabs, take care to only use spaces for
+# indentation. See the following link for more details:
+#
+# https://en.wikipedia.org/wiki/YAML
+#
+# Some additional examples are provided in comments below the default
+# configuration.
+
+# The (default) ubuntu user must be in the video group for hardware acceleration
+users:
+  - default
+  - name: ubuntu
+    groups: video
+
+# On first boot, set the (default) ubuntu user's password to "ubuntu" and
+# expire user passwords
+chpasswd:
+  expire: true
+  users:
+  - name: ubuntu
+    password: ubuntu
+    type: text
+
+## Set the system's hostname. Please note that, unless you have a local DNS
+## setup where the hostname is derived from DHCP requests (as with dnsmasq),
+## setting the hostname here will not make the machine reachable by this name.
+## You may also wish to install avahi-daemon (see the "packages:" key below)
+## to make your machine reachable by the .local domain
+hostname: photonvision
+
+## Set up the keyboard layout. See localectl(1), in particular the various
+## list-x11-* sub-commands, to determine the available models, layouts,
+## variants, and options
+#keyboard:
+#  model: pc105
+#  layout: gb
+#  variant:
+#  options: ctrl:nocaps
+
+# Enable password authentication with the SSH daemon
+ssh_pwauth: true
+
+## On first boot, use ssh-import-id to give the specific users SSH access to
+## the default user
+#ssh_import_id:
+#- lp:my_launchpad_username
+#- gh:my_github_username
+
+## Add users and groups to the system, and import keys with the ssh-import-id
+## utility
+#groups:
+#- robot: [robot]
+#- robotics: [robot]
+#- pi
+#
+#users:
+#- default
+#- name: robot
+#  gecos: Mr. Robot
+#  primary_group: robot
+#  groups: users
+#  ssh_import_id: foobar
+#  lock_passwd: false
+#  passwd: $5$hkui88$nvZgIle31cNpryjRfO9uArF7DYiBcWEnjqq7L1AQNN3
+
+## Update apt database and upgrade packages on first boot
+#package_update: true
+#package_upgrade: true
+
+## Install additional packages on first boot
+#packages:
+#- avahi-daemon
+#- rng-tools
+#- python3-gpiozero
+#- [python3-serial, 3.5-1]
+
+## Write arbitrary files to the file-system (including binaries!)
+#write_files:
+#- path: /etc/default/console-setup
+#  content: |
+#    # Consult the console-setup(5) manual page.
+#    ACTIVE_CONSOLES="/dev/tty[1-6]"
+#    CHARMAP="UTF-8"
+#    VIDEOMODE=
+#    FONT="Lat15-Terminus18x10.psf.gz"
+#    FONTFACE=
+#    FONTSIZE=
+#    CODESET="Lat15"
+#  permissions: '0644'
+#  owner: root:root
+#- encoding: gzip
+#  path: /root/Makefile
+#  content: !!binary |
+#    H4sICF2DTWIAA01ha2VmaWxlAFNWCM8syVBILMjPyU/PTC1WKMlXiPB2dlFQNjSx5MpNteLi
+#    dLDiSoRQxYl5KeWZyRkgXrSCkoqKRmaKgm6pppKCbmqhgoFCrIKamkK1QmpyRr6Ckn92YqWS
+#    NdC80uQMBZhOa4VahZoaqIrwjMQSewXfxOxUhcwShcr80qLi1Jw0RSUuAIYfEJmVAAAA
+#  owner: root:root
+#  permissions: '0644'
+
+## Run arbitrary commands at rc.local like time
+#runcmd:
+#- [ ls, -l, / ]
+#- [ sh, -xc, "echo $(date) ': hello world!'" ]
+#- [ wget, "http://ubuntu.com", -O, /run/mydir/index.html ]
+
+runcmd:
+- [ touch, /etc/cloud/cloud-init.disabled ]

install_opi5.sh

@@ -4,55 +4,91 @@ if id "$1" >/dev/null 2>&1; then
     echo 'user found'
 else
     echo "creating pi user"
-    useradd pi -b /home
+    useradd pi -m -b /home -s /bin/bash
     usermod -a -G sudo pi
-    mkdir /home/pi
-    chown -R pi /home/pi
+    echo 'pi ALL=(ALL) NOPASSWD: ALL' | tee -a /etc/sudoers.d/010_pi-nopasswd >/dev/null
+    chmod 0440 /etc/sudoers.d/010_pi-nopasswd
 fi
 echo "pi:raspberry" | chpasswd
 
-apt-get update
+apt-get update --quiet
+
+before=$(df --output=used / | tail -n1)
+# clean up stuff
+echo 'Purging snaps'
+# get rid of snaps
+rm -rf /var/lib/snapd/seed/snaps/*
+rm -f /var/lib/snapd/seed/seed.yaml
+apt-get purge --yes --quiet lxd-installer lxd-agent-loader
+apt-get purge --yes --quiet snapd
+
+# remove bluetooth daemon
+apt-get purge --yes --quiet bluez
+
+apt-get --yes --quiet autoremove
+
+after=$(df --output=used / | tail -n1)
+freed=$(( before - after ))
+
+echo "Freed up $freed KiB"
+
+# run Photonvision install script
 wget https://git.io/JJrEP -O install.sh
 chmod +x install.sh
 
-sed -i 's/# AllowedCPUs=4-7/AllowedCPUs=4-7/g' install.sh
+sed -i 's/# AllowedCPUs=4-7/AllowedCPUs=0-7/g' install.sh
 
-./install.sh -n -q
+./install.sh -m -q
 rm install.sh
 
+echo "Installing additional things"
 
-# Remove extra packages 
-echo "Purging extra things"
-# apt-get remove -y gdb gcc g++ linux-headers* libgcc*-dev
-# apt-get remove -y snapd
-apt-get autoremove -y
+apt-get install --yes --quiet network-manager net-tools libatomic1
 
+# let netplan create the config during cloud-init
+rm -f /etc/netplan/00-default-nm-renderer.yaml
 
-echo "Installing additional things"
-sudo apt-get update
-apt-get install -y network-manager net-tools libatomic1
+# set NetworkManager as the renderer in cloud-init
+cp -f ./OPi5_CIDATA/network-config /boot/network-config
 
-apt-get install -y libc6 libstdc++6
+# add customized user-data file for cloud-init
+cp -f ./OPi5_CIDATA/user-data /boot/user-data
 
-# cat > /etc/netplan/00-default-nm-renderer.yaml <<EOF
-# network:
-#   renderer: NetworkManager
+# tell NetworkManager not to wait for the carrier on ethernet, which can delay boot
+# when the coprocessor isn't connected to the ethernet
+# cat > /etc/NetworkManager/conf.d/50-ignore-carrier.conf <<EOF
+# [main]
+# ignore-carrier=*
 # EOF
 
+# modify photonvision.service to wait for the network before starting
+# this helps ensure that photonvision detects the network the first time it starts
+# but it may cause a startup delay if the coprocessor isn't connected to a network
+sed -i '/Description/aAfter=network-online.target' /etc/systemd/system/photonvision.service
+cat /etc/systemd/system/photonvision.service
+
+# networkd isn't being used, this causes an unnecessary delay
+systemctl disable systemd-networkd-wait-online.service
+
+# the bluetooth service isn't needed and causes a delay at boot
+systemctl disable ap6275p-bluetooth.service
+
+apt-get install --yes --quiet libc6 libstdc++6
+
 if [ $(cat /etc/lsb-release | grep -c "24.04") -gt 0 ]; then
     # add jammy to apt sources 
     echo "Adding jammy to list of apt sources"
     add-apt-repository -y -S 'deb http://ports.ubuntu.com/ubuntu-ports jammy main universe'
 fi
 
-apt-get update
+apt-get --quiet update
 
 # mrcal stuff
-apt-get install -y libcholmod3 liblapack3 libsuitesparseconfig5
+apt-get install --yes --quiet libcholmod3 liblapack3 libsuitesparseconfig5
 
 
 rm -rf /var/lib/apt/lists/*
-apt-get clean
+apt-get --yes --quiet clean
 
 rm -rf /usr/share/doc
 rm -rf /usr/share/locale/