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RPI4 Cross Compile for libcamera-app on Mac Pro (with docker) (2): Setup chroot

 

RPI4 Cross Compile for libcamera-app on Mac Pro (with docker) (2): Setup chroot

Why am I doing this

After reading the camera app instructions, I thought of starting the development by modifying the libcamera-apps. Therefore, the first step is to build the original repo; after that, I can add my stuff to the official standard version.

It looks easy. The code-building instructions are well-documented on the official website, but there is a catch in my mind. I bought an expensive, neat, and tidy Macbook Pro after quitting my job as a mind-comforting geek gadget to compensate for losing my working life, so I don't want to build the code on a small RPI board. Instead, I want to build the code and develop things on my new laptop, which is why I got into this over tons of unexpected things just popping up in my sight…

Preface

  1. Create a docker container where I can cross-compile the libcamera-apps.
    1. Setup chroot <-
    2. Setup toolchain
    3. Build libcamera-apps <-
  2. The docker container should include the development environment I like.
    1. Setup vim
  3. Develop and debug for the self-built libcamera-apps
  4. My GitHub repository

Goals for setup chroot

  • Look for environment information
  • Setup Dockerfile
  • Build Docker image
  • Start the Docker container and test the "sbuild-apt install"

Look for environment information

We can read [CrossCompiing from the Debian wiki] first to understand how the system setting works, and all my instruction is inspired by the [Earthly, A. Bhattacharyea]. Still, I did it in a docker environment instead of a clean Ubuntu system.

  1. Before the chroot setting, I checked the architecture and the release version on the RPI.

    # for architecture 
pi@raspberrypi:~ $ dpkg --print-architecture
arm64

# for release
pi@raspberrypi:~ $ cat /etc/os-release
PRETTY_NAME="Debian GNU/Linux 11 (bullseye)"
NAME="Debian GNU/Linux"
VERSION_ID="11"
VERSION="11 (bullseye)"
VERSION_CODENAME=bullseye
ID=debian
HOME_URL="<https://www.debian.org/>"
SUPPORT_URL="<https://www.debian.org/support>"
BUG_REPORT_URL="<https://bugs.debian.org/>"

  2. Check the APT setting on the RPI

    pi@raspberrypi:~ $ sudo cat /etc/apt/sources.list
deb <http://deb.debian.org/debian> bullseye main contrib non-free
deb <http://security.debian.org/debian-security> bullseye-security main contrib non-free
deb <http://deb.debian.org/debian> bullseye-updates main contrib non-free
# Uncomment deb-src lines below then 'apt-get update' to enable 'apt-get source'
#deb-src <http://deb.debian.org/debian> bullseye main contrib non-free
#deb-src <http://security.debian.org/debian-security> bullseye-security main contrib non-free
#deb-src <http://deb.debian.org/debian> bullseye-updates main contrib non-free

    However, the source.list does not show all the source we need, which lacks of http://archive.raspberrypi.org/debian. I found out this after I could not pull the libcamera-dev package (E: Unable to locate package libcamera-dev) for the sysroot later on, and it can be shown by using apt policy in the RPI board:

    pi@raspberrypi:~ $ apt policy libcamera-dev
libcamera-dev:
  Installed: 0~git20230720+bde9b04f-1
  Candidate: 0~git20230720+bde9b04f-1
  Version table:
 *** 0~git20230720+bde9b04f-1 500
        500 <http://archive.raspberrypi.org/debian> bullseye/main arm64 Packages
        100 /var/lib/dpkg/status

  3. Find out the gpg key for the repositories above

Setup Dockerfile

  1. Put all the above information in a Dockerfile

    • Dockerfile [github link]

      # syntax=docker/dockerfile:1-labs
FROM ubuntu:22.04
ARG DEBIAN_FRONTEND=noninteractive
RUN apt-get update

# chroots setting -- install required packages
RUN apt-get install wget -y

    # Note: the setting of localtime is to prevent from the interaction prompt when building mk-sbuild
RUN ln -fs /usr/share/zoneinfo/Asia/Taipei /etc/localtime
RUn apt-get install tzdata -y
RUN apt-get install ubuntu-dev-tools cmake curl -y
RUN apt-get install -y \\
                    pkg-config \\
                    libglib2.0-dev \\
                    libgtk2.0-dev \\
                    libtool \\
                    g++
RUN apt-get install git -y
RUN apt-get install vim -y
RUN apt-get install libboost-all-dev -y
RUN apt-get install zip -y
RUN apt-get install gdb -y
RUN apt-get install ssh -y
RUN apt-get install -y gcc g++ gperf bison flex texinfo help2man make libncurses5-dev \\
    python3-dev autoconf automake libtool libtool-bin gawk wget bzip2 xz-utils unzip \\
    patch libstdc++6 rsync git meson ninja-build
RUN apt-get install -y apt-utils autodep8 autopkgtest \\
    libemail-date-format-perl libfilesys-df-perl libmime-lite-perl \\
    libmime-types-perl libsbuild-perl schroot-common deborphan kmod sbuild

# chroots setting -- set the default repository and gpg keyring for mk-sbuild
RUN curl -sL <https://ftp-master.debian.org/keys/release-11.asc> | gpg --import -
RUN gpg --export 605C66F00D6C9793 > $HOME/raspbian-archive-keyring.gpg
RUN <<EOF cat >> $HOME/rpi.sources
deb <http://deb.debian.org/debian> bullseye main contrib non-free
deb <http://security.debian.org/debian-security> bullseye-security main contrib non-free
deb <http://deb.debian.org/debian> bullseye-updates main contrib non-free
deb <http://archive.raspberrypi.org/debian/> bullseye main
# Uncomment deb-src lines below then 'apt-get update' to enable 'apt-get source'
#deb-src <http://deb.debian.org/debian> bullseye main contrib non-free
#deb-src <http://security.debian.org/debian-security> bullseye-security main contrib non-free
#deb-src <http://deb.debian.org/debian> bullseye-updates main contrib non-free
EOF
RUN <<EOF cat >> $HOME/.mk-sbuild.rc
SOURCE_CHROOTS_DIR="$HOME/sys/chroots"
DEBOOTSTRAP_KEYRING="$HOME/raspbian-archive-keyring.gpg"
TEMPLATE_SOURCES="$HOME/rpi.sources"
SKIP_UPDATES="1"
SKIP_PROPOSED="1"
SKIP_SECURITY="1"
EATMYDATA="1"
EOF

# build chroots - set user and the global environment 
RUN usermod -a -G sbuild root
RUN newgrp sbuild
ENV ARCH=arm64
ENV RELEASE=bullseye
ENV TC=aarch64-rpi4-linux-gnu

# build chroots - build
RUN --security=insecure mk-sbuild --arch=$ARCH $RELEASE \\
    --debootstrap-mirror=http://deb.debian.org/debian/ \\
    --name=rpi-$RELEASE

# build chroots - add <http://archive.raspberrypi.org> key in the previous built chroot 
RUN --security=insecure sbuild-apt rpi-$RELEASE-$ARCH apt-get install curl
RUN --security=insecure echo "curl -sL <http://archive.raspberrypi.org/debian/raspberrypi.gpg.key> | gpg --import -" | sbuild-shell rpi-$RELEASE-$ARCH
RUN --security=insecure echo "gpg -a --export 82B129927FA3303E | apt-key add -" | sbuild-shell rpi-$RELEASE-$ARCH
RUN --security=insecure sbuild-apt rpi-$RELEASE-$ARCH apt-get update
COPY ./entrypoint.sh /entrypoint.sh

ENTRYPOINT ["/bin/bash", "/entrypoint.sh"]

    • entrypoint.sh

      #!/bin/bash
export PATH="/opt/x-tools/$TC/bin:$PATH"
/bin/bash

    • Dockerfile explanation

      • The flow of the Dockerfile is:
        1. Install the packages that will be used later
        2. Set the default Debian repository and its GPG keyring for the mk-sbuild process
          • However, we have to install two keys. One is for http://deb.debian.org/debian and the other is for http://archive.raspberrypi.org/debian. Unfortunately, I did not find the instruction for adding two keys for the chroot building, so I came up with the workaround: manually adding the raspberry pi key after the first chroot build.
        3. Add the raspberry pi key by using sbuild-shell

Build Docker image

  1. Build the Docker image

    • Build docker images

      docker buildx create --use --name insecure-builder --buildkitd-flags '--allow-insecure-entitlement security.insecure'
docker buildx build --allow security.insecure -t aarch64-rpi4-bullseye-cross-compiler-2204:v0.1.3 --load .

      • The commands of sbuild-apt, mk-sbuild, sbuild-shell are insecure when building the image, which mean that I cannot use the regular docker build command to build this image. Instead, the docker buildx can help to deal with our needs. The docker buildx create command will start a specific docker container for building docker images under this circumstance, in our usage, which is create a builder capable of building the Dockerfile with insecure commands.

      • For the insecure build, some lines should be put in the Dockerfile.

        • # syntax=docker/dockerfile:1-labs should be added in the first line
        • Add --security=insecure in front of each command with sbuild-apt, mk-sbuild, sbuild-shell
        • Example:
        RUN --security=insecure mk-sbuild --arch=$ARCH $RELEASE \\
    --debootstrap-mirror=http://deb.debian.org/debian/ \\
    --name=rpi-$RELEASE

      • Note: the below lines will be shown after a successful build

        I: Target architecture can be executed
I: Retrieving InRelease
I: Checking Release signature
...
...
Done building rpi-bullseye-arm64.

 To CHANGE the golden image: sudo schroot -c source:rpi-bullseye-arm64 -u root
 To ENTER an image snapshot: schroot -c rpi-bullseye-arm64
 To BUILD within a snapshot: sbuild -A -d rpi-bullseye-arm64 PACKAGE*.dsc

Start the Docker container and test the "sbuild-apt install"

  1. Start the docker container and install packages to test the chroot

    1. Container running script

      #!/bin/bash
_source=$SOURCE_CODE_DIR
_docker_source=/root/main
_test_source=$SOURCE_CODE_EXTRA_DATA_DIR
_docker_test_source=/root/test_data

_docker_image=aarch64-rpi4-bullseye-cross-compiler-2204:v0.1.3
_docker_volume=docker_build_rpi
_docker_volume_toolchain=rpi4-toolchain
_docker_volume_crosstool_ng=crosstoll_ng

docker run -it --rm \\
           --privileged=true \\
           --cap-add=SYS_ADMIN --security-opt apparmor:unconfined \\
           -v $_docker_volume:/root/build \\
           -v $_docker_volume_toolchain:/opt \\
           -v $_docker_volume_crosstool_ng:/root/crosstool_ng \\
           -v $_source:$_docker_source:delegated \\
           -v $_test_source:$_docker_test_source:delegated \\
           --net=host \\
           $_docker_image bash

    2. Install libgmp-dev for testing http://deb.debian.org/debian

      root@docker-desktop:/ sbuild-apt rpi-$RELEASE-$ARCH apt-get install libgmp-dev
I: apt-get -oAPT::Get::Assume-Yes=true install libgmp-dev
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following additional packages will be installed:
  libgmpxx4ldbl
Suggested packages:
  gmp-doc libgmp10-doc libmpfr-dev
The following NEW packages will be installed:
  libgmp-dev libgmpxx4ldbl
0 upgraded, 2 newly installed, 0 to remove and 12 not upgraded.
Need to get 962 kB of archives.
After this operation, 2316 kB of additional disk space will be used.
Get:1 <http://deb.debian.org/debian> bullseye/main arm64 libgmpxx4ldbl arm64 2:6.2.1+dfsg-1+deb11u1 [337 kB]
Get:2 <http://deb.debian.org/debian> bullseye/main arm64 libgmp-dev arm64 2:6.2.1+dfsg-1+deb11u1 [625 kB]
Fetched 962 kB in 1s (1440 kB/s)
Selecting previously unselected package libgmpxx4ldbl:arm64.
(Reading database ... 12914 files and directories currently installed.)
Preparing to unpack .../libgmpxx4ldbl_2%3a6.2.1+dfsg-1+deb11u1_arm64.deb ...
Unpacking libgmpxx4ldbl:arm64 (2:6.2.1+dfsg-1+deb11u1) ...
Selecting previously unselected package libgmp-dev:arm64.
Preparing to unpack .../libgmp-dev_2%3a6.2.1+dfsg-1+deb11u1_arm64.deb ...
Unpacking libgmp-dev:arm64 (2:6.2.1+dfsg-1+deb11u1) ...
Setting up libgmpxx4ldbl:arm64 (2:6.2.1+dfsg-1+deb11u1) ...
Setting up libgmp-dev:arm64 (2:6.2.1+dfsg-1+deb11u1) ...
Processing triggers for libc-bin (2.31-13+deb11u6) ...

    3. Install libcamera-dev for testing http://archive.raspberrypi.org/debian

      root@docker-desktop:/ sbuild-apt rpi-$RELEASE-$ARCH apt-get install libcamera-dev
I: apt-get -oAPT::Get::Assume-Yes=true install libcamera-dev
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following additional packages will be installed:
  iso-codes libcamera0 libcap2 libcap2-bin libdw1 libelf1 libglib2.0-0 libgstreamer-plugins-base1.0-0 libgstreamer1.0-0 liborc-0.4-0 libunwind8 libyaml-0-2 raspberrypi-kernel
Suggested packages:
  isoquery libvisual-0.4-plugins gstreamer1.0-tools
Recommended packages:
  libpam-cap libglib2.0-data shared-mime-info xdg-user-dirs gstreamer1.0-plugins-base
The following NEW packages will be installed:
  iso-codes libcamera-dev libcamera0 libcap2 libcap2-bin libdw1 libelf1 libglib2.0-0 libgstreamer-plugins-base1.0-0 libgstreamer1.0-0 liborc-0.4-0 libunwind8 libyaml-0-2 raspberrypi-kernel
0 upgraded, 14 newly installed, 0 to remove and 12 not upgraded.
Need to get 36.9 MB of archives.
After this operation, 74.0 MB of additional disk space will be used.
Get:1 <http://deb.debian.org/debian> bullseye/main arm64 iso-codes all 4.6.0-1 [2824 kB]
...
Setting up libcap2:arm64 (1:2.44-1) ...
Setting up libcap2-bin (1:2.44-1) ...
Setting up liborc-0.4-0:arm64 (1:0.4.32-1) ...
Setting up libelf1:arm64 (0.183-1) ...
Setting up iso-codes (4.6.0-1) ...
Setting up libdw1:arm64 (0.183-1) ...
Setting up libgstreamer1.0-0:arm64 (1.18.4-2.1) ...
Setcap worked! gst-ptp-helper is not suid!
Setting up libgstreamer-plugins-base1.0-0:arm64 (1.18.4-2+deb11u1) ...
Setting up libcamera0:arm64 (0~git20230720+bde9b04f-1) ...
Setting up libcamera-dev:arm64 (0~git20230720+bde9b04f-1) ...
Processing triggers for libc-bin (2.31-13+deb11u6) ...

Conclusion

Since we can install libgmp-dev and libcamera-dev in the chroot, the sysroot setup is done successfully, and next step is to build a toolchain for my M2 Macbook Pro.

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