Ubuntu 24.04 (#262)

* Ubuntu 24.04 (#188)

* separate out qtwayland5 compilation

* ubuntu 22.04

* temp build system image

* remove bionic deps

* temp packages update

* update armhf packages

* back to libstdc++6

* replaced remove dqt5-default meta package with actual depss

* fix for build libqmi crashing with /usr/bin/env: 'python': No such file or directory

* mapbox-gl-native gcc11 fix

* openpilot_dependencies.sh change

* ubuntu-base 24.04 daily current

* apt install meson because PEP 668

* temp g++-11 for mapbox-gl-native

* bump capnproto to 1.0.2

* temp build only agnos-compiler-mapbox-gl-native

* Fixes for compiling mapbox-gl-native

* Fixes for compiling ffmpeg

* Build main system image again

* pyopencl from git since no 2023.1.5 release since inducer/pyopencl#705

* Try to fix checkinstall - no success

* apt capnproto & ffmpeg since can't figure out issue with checkinstall

* Commented removed services disable

* Ubuntu 24.04 currently has arm-none-eabi/12.2.1 but just use wildcard to go to first folder

* pyclean is missing ?!

* ubuntu-latest in tests workflow

* Updated README

* Reverted internal/package_ota.py changes

* rebuilt kernel

* poetry.lock update

* Simplified build_system pipeline

* headers for capnproto

* Fix typo

* Fix for checkinstall

* Reverted apt capnproto & ffmpeg

* Some cleaning in Dockerfile

* 24.04 libwayland-client

* libffi6:armhf deb file

* Updated qtwayland

* Revert "libffi6:armhf deb file"

This reverts commit bb9cb5d.

* libffi.so.6.0.4

* qt5-qmake qtbase5-dev qtbase5-dev-tools already in qt5-default

* Removed qtwayland old files

* checkinstall temp fix

* QStandardPaths: wrong permissions on runtime directory /var/tmp/weston, 0770 instead of 0700

* temp permissions fix makes loading build spinner show

* temp build optimization

* 24.04 new libs

* build kernel don't use tools on aarch64/arm64

* updated boot image and ko files

* cleaning

* switch to release 24.04

* wip - downgrade qt and libwayland

* polkitd-pkla package to support polkit *.pkla

* fixed issue with old qt needing libssl 1.1.1f

* remove /.dockerenv file

* more cleaning

---------

Co-authored-by: Justin Newberry <justin@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Ubuntu 24.04 branch fixes (#235)

* bump version

* /lib64 is now UsrMerged

* latest pip poetry; poetry.lock update

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* revert README

* [upload]

* disable failing nvmf-autoconnect.service

* disable failing networking.service

* [upload]

* no replacement for ondemand.service

* snapd.service is in snapd package we don't install

* nfs is using rpc-pipefs-generator now, when used

* checkinstall is still not fixed so remove TODO

* updated comment about usr merged lib64

* added checkinstall bug link

* removed not used libffi.so.6 and libwayland-client.so.0

* cleaned compile-qtwayland5.sh and removed 5.15 patch

* removed unused qt-comma 5.15 deb

* cleaned up custom debs for qt and libwayland and added a README

* fixed typo [upload]

* change version

* build-libwayland-deb.sh

* build-qt-deb.sh

* cleaned README

* [upload]

* fix libdl.so qtwayland build [upload]

* rebuild debs

* update libdl path [upload]

* added missing systemd-resolved

* ping capability

* disable some systemd services

* etc/resolv.conf link should not be needed

* Revert "etc/resolv.conf link should not be needed"

This reverts commit b627615.

* Revert "ping capability"

This reverts commit 812ca35.

* set ping capability outside of container

* disable systemd services: console-setup and sfsconfig

Co-authored-by: Robin Reckmann <robin.reckmann@gmail.com>

* disabled more systemd services

* bump version [upload]

* update version

---------

Co-authored-by: Justin Newberry <justin@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Robin Reckmann <robin.reckmann@gmail.com>

Dockerfile.agnos

@@ -4,7 +4,7 @@
 # ###### Base ###### #
 # ################## #
 FROM scratch AS agnos-base
-ADD ubuntu-base-20.04.1-base-arm64.tar.gz /
+ADD ubuntu-base-24.04-base-arm64.tar.gz /
 
 # Build folder
 RUN mkdir -p /tmp/agnos
@@ -19,16 +19,25 @@ RUN echo "resolvconf resolvconf/linkify-resolvconf boolean false" | debconf-set-
 COPY ./userspace/base_setup.sh /tmp/agnos
 RUN /tmp/agnos/base_setup.sh
 
+# Install openpilot dependencies
+COPY ./userspace/openpilot_dependencies.sh /tmp/agnos/
+RUN /tmp/agnos/openpilot_dependencies.sh
+
+# Install old Qt 5.12.8, libwayland 1.9.0-1 and deps
+COPY ./userspace/qtwayland/*.deb /tmp/agnos/
+RUN apt-get -o Dpkg::Options::="--force-overwrite" install -yq \
+    /tmp/agnos/qt-5.12.8.deb \
+    /tmp/agnos/libwayland-1.9.0-1.deb \
+    /tmp/agnos/libicu66_66.1-2ubuntu2.1_arm64.deb \
+    /tmp/agnos/libssl1.1_1.1.1f-1ubuntu2.22_arm64.deb \
+    /tmp/agnos/libffi6_3.2.1-8_arm64.deb
+
 # ################## #
 # #### Compiler #### #
 # ################## #
 FROM agnos-base AS agnos-compiler
 
 RUN apt-fast update && apt-fast install --no-install-recommends -yq checkinstall
-# Install openpilot dependencies, probably needed for build,
-# but we don't want these in the base image
-COPY ./userspace/openpilot_dependencies.sh /tmp/agnos/
-RUN /tmp/agnos/openpilot_dependencies.sh
 
 # Individual compiling images
 FROM agnos-compiler AS agnos-compiler-capnp
@@ -41,7 +50,7 @@ RUN /tmp/agnos/compile-ffmpeg.sh
 
 FROM agnos-compiler AS agnos-compiler-qtwayland5
 COPY ./userspace/compile-qtwayland5.sh /tmp/agnos/
-COPY ./userspace/qtwayland/patch /tmp/agnos/
+COPY ./userspace/qtwayland/patch* /tmp/agnos/
 RUN /tmp/agnos/compile-qtwayland5.sh
 
 # ################### #
@@ -64,9 +73,6 @@ RUN /tmp/agnos/compile-modemmanager.sh
 COPY --from=agnos-compiler-capnp /tmp/capnproto.deb /tmp/capnproto.deb
 RUN cd /tmp && apt-get -o Dpkg::Options::="--force-overwrite" install -yq ./capnproto.deb
 
-# Install openpilot dependencies
-COPY ./userspace/openpilot_dependencies.sh /tmp/agnos/
-RUN /tmp/agnos/openpilot_dependencies.sh
 COPY ./userspace/openpilot_python_dependencies.sh /tmp/agnos/
 RUN /tmp/agnos/openpilot_python_dependencies.sh
 
@@ -98,10 +104,6 @@ RUN export PATH="/usr/local/pyenv/bin:/usr/local/pyenv/shims:$PATH" && \
 COPY ./userspace/install_extras.sh /tmp/agnos/
 RUN /tmp/agnos/install_extras.sh
 
-# 16.04 libwayland-client + libffi6
-COPY ./userspace/qtwayland/libffi.so.6 /lib/aarch64-linux-gnu/
-COPY ./userspace/qtwayland/libwayland-client.so.0 /lib/aarch64-linux-gnu/libwayland-client.so.0
-
 COPY --from=agnos-compiler-qtwayland5 /tmp/qtwayland5.deb /tmp/qtwayland5.deb
 RUN cd /tmp && apt-get -o Dpkg::Options::="--force-overwrite" install -yq --allow-downgrades ./qtwayland5.deb
 
@@ -185,7 +187,7 @@ RUN sed -i 's/hosts:          files dns myhostname/hosts:          files myhostn
 
 # TODO: move this to base_setup.sh or build gcc from source
 # Remove unused architectures from arm-none-eabi
-RUN cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
+RUN cd /usr/lib/gcc/arm-none-eabi/* && \
     rm -rf arm/ && \
     rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
 

Dockerfile.builder

@@ -18,6 +18,7 @@ RUN apt-get update && \
     openssl \
     ccache \
     android-sdk-libsparse-utils \
+    libcap2-bin \
     && rm -rf /var/lib/apt/lists/*
 
 RUN if [ ${UID:-0} -ne 0 ] && [ ${GID:-0} -ne 0 ]; then \

VERSION

@@ -1 +1 @@
-10.1
+11

build_system.sh

@@ -1,8 +1,8 @@
 #!/bin/bash
 set -e
 
-UBUNTU_BASE_URL="http://cdimage.ubuntu.com/ubuntu-base/releases/20.04/release"
-UBUNTU_FILE="ubuntu-base-20.04.1-base-arm64.tar.gz"
+UBUNTU_BASE_URL="http://cdimage.ubuntu.com/ubuntu-base/releases/24.04/release"
+UBUNTU_FILE="ubuntu-base-24.04-base-arm64.tar.gz"
 
 # Make sure we're in the correct spot
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
@@ -99,6 +99,10 @@ echo "Extracting docker image"
 docker container export -o $BUILD_DIR/filesystem.tar $CONTAINER_ID
 exec_as_root tar -xf $BUILD_DIR/filesystem.tar -C $ROOTFS_DIR > /dev/null
 
+# Avoid detecting as container
+echo "Removing .dockerenv file"
+exec_as_root rm -f $ROOTFS_DIR/.dockerenv
+
 echo "Setting network stuff"
 set_network_stuff() {
   cd $ROOTFS_DIR
@@ -111,6 +115,9 @@ set_network_stuff() {
   # Fix resolv config
   bash -c "ln -sf /run/systemd/resolve/stub-resolv.conf etc/resolv.conf"
 
+  # Set capability for ping
+  bash -c "setcap cap_net_raw+ep bin/ping"
+
   # Write build info
   DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
   bash -c "printf \"$GIT_HASH\n$DATETIME\" > BUILD"

userspace/base_setup.sh

@@ -95,6 +95,7 @@ apt-fast install --no-install-recommends -yq \
     ssh \
     sshfs \
     sudo \
+    systemd-resolved \
     traceroute \
     tk-dev \
     ubuntu-minimal \
@@ -115,9 +116,6 @@ echo "makestep 0.1 3" >> /etc/chrony/chrony.conf
 mkdir /data && chown $USERNAME:$USERNAME /data
 mkdir /persist && chown $USERNAME:$USERNAME /persist
 
-# Disable automatic ondemand switching from ubuntu
-systemctl disable ondemand
-
 # Disable pstore service that moves files out of /sys/fs/pstore
 systemctl disable systemd-pstore.service
 
@@ -131,7 +129,7 @@ ln -sf /bin/bash /bin/sh
 apt-fast update -yq
 apt-fast install --no-install-recommends -yq \
     libacl1:armhf \
-    libasan5-armhf-cross \
+    libasan6-armhf-cross \
     libatomic1-armhf-cross \
     libattr1:armhf \
     libaudit1:armhf \
@@ -145,13 +143,12 @@ apt-fast install --no-install-recommends -yq \
     libdrm2:armhf \
     libevdev2:armhf \
     libexpat1:armhf \
-    libffi7:armhf \
+    libffi8:armhf \
     libfontconfig1:armhf \
     libfreetype6:armhf \
     libgbm1:armhf \
-    libgcc-9-dev-armhf-cross \
-    libgcc1:armhf \
-    libglib2.0-0:armhf \
+    libgcc-11-dev-armhf-cross \
+    libglib2.0-0t64:armhf \
     libgomp1-armhf-cross \
     libgudev-1.0-0:armhf \
     libinput-bin:armhf \
@@ -163,23 +160,20 @@ apt-fast install --no-install-recommends -yq \
     libjpeg8:armhf \
     libjpeg8-dev:armhf \
     libkmod2:armhf \
-    libmtdev1:armhf \
+    libmtdev1t64:armhf \
     libpam0g:armhf \
     libpam0g-dev:armhf \
     libpcre3:armhf \
     libpixman-1-0:armhf \
-    libpng16-16:armhf \
+    libpng16-16t64:armhf \
     libselinux1:armhf \
     libstdc++6:armhf \
     libstdc++6-armhf-cross \
     libubsan1-armhf-cross \
     libudev-dev:armhf \
     libudev1:armhf \
     libuuid1:armhf \
-    libwacom2:armhf \
-    libwayland-client0:armhf \
-    libwayland-cursor0:armhf \
-    libwayland-server0:armhf \
+    libwacom9:armhf \
     libx11-6:armhf \
     libxau6:armhf \
     libxcb-render0:armhf \
@@ -197,7 +191,6 @@ apt-fast install --no-install-recommends -yq \
     libgles1 \
     libgles2 \
     libgles-dev \
-    libwayland-dev \
     openssh-server \
     dnsmasq-base \
     isc-dhcp-client \

userspace/compile-capnp.sh

@@ -10,5 +10,7 @@ CXXFLAGS="-fPIC -O2" ./configure
 
 make -j$(nproc)
 
-checkinstall -yD --install=no --pkgname=capnproto
+# remove "--fstrans=no" when checkinstall is fixed (still not fixed in 24.04)
+# https://bugs.launchpad.net/ubuntu/+source/checkinstall/+bug/78455
+checkinstall -yD --install=no --fstrans=no --pkgname=capnproto
 mv capnproto*.deb /tmp/capnproto.deb

userspace/compile-ffmpeg.sh

@@ -6,8 +6,15 @@ wget https://ffmpeg.org/releases/ffmpeg-4.2.2.tar.bz2
 tar xvf ffmpeg-4.2.2.tar.bz2
 cd ffmpeg-4.2.2
 
-./configure --enable-shared --disable-static
+# avoid makeinfo: error parsing ./doc/t2h.pm: Undefined subroutine &Texinfo::Config::set_from_init_file called at ./doc/t2h.pm line 24.
+# with --disable-htmlpages
+# --disable-doc works too, disables building documentation completely
+# https://gist.github.com/omegdadi/6904512c0a948225c81114b1c5acb875
+# https://github.com/7Ji/archrepo/issues/10
+./configure --enable-shared --disable-static --disable-htmlpages
 make -j$(nproc)
 
-checkinstall -yD --install=no --pkgname=ffmpeg
+# remove "--fstrans=no" when checkinstall is fixed (still not fixed in 24.04)
+# # https://bugs.launchpad.net/ubuntu/+source/checkinstall/+bug/78455
+checkinstall -yD --install=no --fstrans=no --pkgname=ffmpeg
 mv ffmpeg*.deb /tmp/ffmpeg.deb

userspace/compile-modemmanager.sh

@@ -11,8 +11,7 @@ apt-fast update
 apt-fast install -y --no-install-recommends automake autoconf build-essential cmake
 
 # TODO: clean up these build time dependencies
-apt-fast install -y --no-install-recommends python3 python3-pip python3-setuptools python3-wheel ninja-build
-pip3 install --user meson
+apt-fast install -y --no-install-recommends python3 python3-pip python3-setuptools python3-wheel ninja-build meson
 export PATH=$PATH:/root/.local/bin
 
 # build mobile-broadband-provider-info
@@ -25,7 +24,7 @@ make install
 
 # build libqmi
 cd /tmp
-apt-fast install -y --no-install-recommends libgudev-1.0-dev gobject-introspection libgirepository1.0-dev help2man bash-completion
+apt-fast install -y --no-install-recommends libgudev-1.0-dev gobject-introspection libgirepository1.0-dev help2man bash-completion python-is-python3
 
 git clone -b $LIBQMI_VERSION --depth 1 https://gitlab.freedesktop.org/mobile-broadband/libqmi.git
 cd libqmi
@@ -35,7 +34,7 @@ ninja -C build install
 
 # build ModemManager
 cd /tmp
-apt install -y --no-install-recommends gettext libpolkit-gobject-1-dev libdbus-1-dev libsystemd-dev
+apt install -y --no-install-recommends gettext libpolkit-gobject-1-dev libdbus-1-dev libsystemd-dev polkitd-pkla
 
 git clone -b $MM_VERSION --depth 1 https://gitlab.freedesktop.org/mobile-broadband/ModemManager.git
 

userspace/compile-qtwayland5.sh

@@ -1,19 +1,26 @@
 #!/bin/bash -e
 
 # Patched qtwayland that outputs a fixed screen size
-# Clone qtwayland submodule, checkout 5.12.9 (5.12.8 leaks timers, see https://bugreports.qt.io/browse/QTBUG-82914), apply patch, qmake, make
+# Clone qtwayland submodule, checkout, apply patch, qmake, make
+VERSION=5.12.9
 
 cd /tmp
-git clone --branch v5.12.9 https://github.com/qt/qtwayland.git
+git clone --branch v${VERSION} --depth 1 https://github.com/qt/qtwayland.git
 cd qtwayland
 
-git apply /tmp/agnos/patch
+git apply /tmp/agnos/patch-qtwayland-v5.12
+
+# qtwayland is incorrectly built against libdl.so instead of libdl.so.2
+# https://stackoverflow.com/a/75855054/639708
+ln -s libdl.so.2 /usr/lib/aarch64-linux-gnu/libdl.so
 
 mkdir /tmp/build && cd /tmp/build
 qmake /tmp/qtwayland
 
 export MAKEFLAGS="-j$(nproc)"
 make
 
-checkinstall -yD --install=no --pkgversion="5.12.8" --pkgname=qtwayland5 --pkgarch=arm64 --replaces=qtwayland5,libqt5waylandclient5,libqt5waylandcompositor5
+# remove "--fstrans=no" when checkinstall is fixed (still not fixed in 24.04)
+# # https://bugs.launchpad.net/ubuntu/+source/checkinstall/+bug/78455
+checkinstall -yD --install=no --fstrans=no --pkgversion="${VERSION}" --pkgname=qtwayland5 --pkgarch=arm64 --replaces=qtwayland5,libqt5waylandclient5,libqt5waylandcompositor5
 mv qtwayland5*.deb /tmp/qtwayland5.deb

userspace/files/weston-ready.service

@@ -14,7 +14,8 @@ ExecStart=/bin/bash -c "while [ ! -e \"$XDG_RUNTIME_DIR/wayland-0\" ]; do sleep
 ExecStart=/bin/sleep 0.5
 
 ExecStart=/bin/echo "fixing permissions"
-ExecStart=/bin/bash -c "chmod -R 770 $XDG_RUNTIME_DIR"
+ExecStart=/bin/bash -c "chown -R comma: $XDG_RUNTIME_DIR"
+ExecStart=/bin/bash -c "chmod -R 700 $XDG_RUNTIME_DIR"
 
 # these are set by udev rules, but udev is slow
 ExecStart=/bin/bash -c "chgrp gpu /dev/ion /dev/kgsl-3d0"

userspace/files/weston.service

@@ -17,6 +17,7 @@ TTYVTDisallocate=yes
 
 ExecStartPre=/bin/bash -c "mkdir -p $XDG_RUNTIME_DIR"
 ExecStartPre=/bin/bash -c "chown -R comma: $XDG_RUNTIME_DIR"
+ExecStartPre=/bin/bash -c "chmod -R 700 $XDG_RUNTIME_DIR"
 
 ExecStartPre=/bin/bash -c "mkdir -p /data/misc/display || true"
 ExecStartPre=/bin/bash -c "echo 0 > /data/misc/display/sdm_dbg_cfg.txt || true"

userspace/hardware_setup.sh

@@ -2,6 +2,13 @@
 
 # Install driver deb files (we're fine with overwriting stuff too)
 cd /tmp/agnos/debs
+
+# Setting up usr merged lib64 since it's not done by default (in 24.04-base)
+# https://wiki.debian.org/UsrMerge
+# https://www.freedesktop.org/wiki/Software/systemd/TheCaseForTheUsrMerge/
+sudo mkdir /usr/lib64
+sudo ln -s usr/lib64 /lib64
+
 apt-get -o Dpkg::Options::="--force-overwrite" install -yq \
   ./agnos-base.deb \
   ./agnos-display_0.0.1.deb \

userspace/openpilot_dependencies.sh

@@ -29,7 +29,7 @@ apt-fast install --no-install-recommends -yq \
     libffi-dev \
     libfreetype6-dev \
     libglfw3-dev \
-    libglib2.0-0 \
+    libglib2.0-0t64 \
     libi2c-dev \
     libjpeg-dev \
     liblzma-dev \
@@ -61,17 +61,4 @@ apt-fast install --no-install-recommends -yq \
     vnstat \
     wget \
     zlib1g-dev \
-    libqt5opengl5-dev \
-    libqt5sql5-sqlite \
-    libqt5svg5-dev \
-    libqt5multimedia5-plugins \
-    qml-module-qtquick2 \
-    qt5-default \
-    qtbase5-private-dev \
-    qtdeclarative5-dev \
-    qtdeclarative5-private-dev \
-    qtlocation5-dev \
-    qtmultimedia5-dev \
-    qtpositioning5-dev \
-    qtwayland5 \
     zstd