Update to bookworm

Dockerfile

@@ -1,4 +1,4 @@
-ARG BASE_IMAGE=debian:bullseye
+ARG BASE_IMAGE=debian:bookworm
 FROM ${BASE_IMAGE}
 
 ENV DEBIAN_FRONTEND noninteractive
@@ -10,7 +10,7 @@ RUN apt-get -y update && \
         libarchive-tools libcap2-bin rsync grep udev xz-utils curl xxd file kmod bc\
         binfmt-support ca-certificates qemu-utils kpartx fdisk gpg pigz\
         crossbuild-essential-arm64 \
-        build-essential cmake python3 python3-distutils python3-jinja2 ant sudo openjdk-17-jdk \
+        build-essential cmake ninja-build protobuf-compiler python3 python3-distutils python3-jinja2 ant sudo openjdk-17-jdk \
     && rm -rf /var/lib/apt/lists/*
 
 COPY . /pi-gen/

README.md

@@ -64,6 +64,11 @@ The following environment variables are supported:
    The release version to build images against. Valid values are jessie, stretch
    buster, bullseye, and testing.
 
+ * `PI_GEN_RELEASE` (Default: `Raspberry Pi reference`)
+
+   The release name to use in `/etc/issue.txt`. The default should only be used
+   for official Raspberry Pi builds.
+
 * `USE_QCOW2` **EXPERIMENTAL** (Default: `0` )
 
     Instead of using traditional way of building the rootfs of every stage in
@@ -87,7 +92,7 @@ The following environment variables are supported:
     that the network block device is not disconnected correctly after the Docker process has
     ended abnormally. In that case see [Disconnect an image if something went wrong](#Disconnect-an-image-if-something-went-wrong)
 
-* `RELEASE` (Default: bullseye)
+* `RELEASE` (Default: bookworm)
 
    The release version to build images against. Valid values are any supported
    Debian release. However, since different releases will have different sets of
@@ -204,9 +209,9 @@ The following environment variables are supported:
    stays activated. `FIRST_USER_PASS` must be set for this to work. Please be aware of the implied
    security risk of defining a default username and password for your devices.
 
- * `WPA_ESSID`, `WPA_PASSWORD` and `WPA_COUNTRY` (Default: unset)
+ * `WPA_COUNTRY` (Default: unset)
 
-   If these are set, they are use to configure `wpa_supplicant.conf`, so that the Raspberry Pi can automatically connect to a wireless network on first boot. If `WPA_ESSID` is set and `WPA_PASSWORD` is unset an unprotected wireless network will be configured. If set, `WPA_PASSWORD` must be between 8 and 63 characters. `WPA_COUNTRY` is a 2-letter ISO/IEC 3166 country Code, i.e. `GB`
+   Sets the default WLAN regulatory domain and unblocks WLAN interfaces. This should be a 2-letter ISO/IEC 3166 country Code, i.e. `GB`
 
  * `ENABLE_SSH` (Default: `1`)
 
@@ -527,7 +532,7 @@ To resolve this, ensure that the following files are available (install them if
 
 ```
 /lib/modules/$(uname -r)/kernel/fs/binfmt_misc.ko
-/usr/bin/qemu-arm-static
+/usr/bin/qemu-aarch64-static
 ```
 
 You may also need to load the module by hand - run `modprobe binfmt_misc`.

build-docker.sh

@@ -1,13 +1,20 @@
-#!/bin/bash -eu
+#!/usr/bin/env bash
+# Note: Avoid usage of arrays as MacOS users have an older version of bash (v3.x) which does not supports arrays
+set -eu
 
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"
 
 BUILD_OPTS="$*"
 
-DOCKER="docker"
+# Allow user to override docker command
+DOCKER=${DOCKER:-docker}
 
-if ! ${DOCKER} ps >/dev/null 2>&1; then
-	DOCKER="sudo docker"
+# Ensure that default docker command is not set up in rootless mode
+if \
+  ! ${DOCKER} ps    >/dev/null 2>&1 || \
+    ${DOCKER} info 2>/dev/null | grep -q rootless \
+; then
+	DOCKER="sudo ${DOCKER}"
 fi
 if ! ${DOCKER} ps >/dev/null; then
 	echo "error connecting to docker:"
@@ -88,49 +95,84 @@ fi
 # Modify original build-options to allow config file to be mounted in the docker container
 BUILD_OPTS="$(echo "${BUILD_OPTS:-}" | sed -E 's@\-c\s?([^ ]+)@-c /config@')"
 
-${DOCKER} build --build-arg BASE_IMAGE=debian:bullseye -t pi-gen "${DIR}"
+${DOCKER} build --build-arg BASE_IMAGE=debian:bookworm -t pi-gen "${DIR}"
 
 if [ "${CONTAINER_EXISTS}" != "" ]; then
-	trap 'echo "got CTRL+C... please wait 5s" && ${DOCKER} stop -t 5 ${CONTAINER_NAME}_cont' SIGINT SIGTERM
-	time ${DOCKER} run --rm --privileged \
-		--cap-add=ALL \
-		-v /dev:/dev \
-		-v /lib/modules:/lib/modules \
-		${PIGEN_DOCKER_OPTS} \
-		--volume "${CONFIG_FILE}":/config:ro \
-		-e "GIT_HASH=${GIT_HASH}" \
-		--volumes-from="${CONTAINER_NAME}" --name "${CONTAINER_NAME}_cont" \
-		-e IMG_NAME="${IMG_NAME}"\
-		-e IMG_VERSION="${IMG_VERSION}"\
-		pi-gen \
-		bash -e -o pipefail -c "dpkg-reconfigure qemu-user-static &&
-	# binfmt_misc is sometimes not mounted with debian bullseye image
-	(mount binfmt_misc -t binfmt_misc /proc/sys/fs/binfmt_misc || true) &&
-	cd /pi-gen; ./build.sh ${BUILD_OPTS} &&
-	rsync -av work/*/build.log deploy/" &
-	wait "$!"
+  DOCKER_CMDLINE_NAME="${CONTAINER_NAME}_cont"
+  DOCKER_CMDLINE_PRE="--rm"
+  DOCKER_CMDLINE_POST="--volumes-from=${CONTAINER_NAME}"
 else
-	trap 'echo "got CTRL+C... please wait 5s" && ${DOCKER} stop -t 5 ${CONTAINER_NAME}' SIGINT SIGTERM
-	time ${DOCKER} run --name "${CONTAINER_NAME}" --privileged \
-		--cap-add=ALL \
-		-v /dev:/dev \
-		-v /lib/modules:/lib/modules \
-		${PIGEN_DOCKER_OPTS} \
-		--volume "${CONFIG_FILE}":/config:ro \
-		-e "GIT_HASH=${GIT_HASH}" \
-		-e IMG_NAME="${IMG_NAME}"\
-		-e IMG_VERSION="${IMG_VERSION}"\
-		pi-gen \
-		bash -e -o pipefail -c "dpkg-reconfigure qemu-user-static &&
-	# binfmt_misc is sometimes not mounted with debian bullseye image
-	(mount binfmt_misc -t binfmt_misc /proc/sys/fs/binfmt_misc || true) &&
-	cd /pi-gen; ./build.sh ${BUILD_OPTS} &&
-	rsync -av work/*/build.log deploy/" &
-	wait "$!"
+  DOCKER_CMDLINE_NAME="${CONTAINER_NAME}"
+  DOCKER_CMDLINE_PRE=""
+  DOCKER_CMDLINE_POST=""
 fi
 
+# Check if binfmt_misc is required
+binfmt_misc_required=1
+case $(uname -m) in
+  aarch64)
+    binfmt_misc_required=0
+    ;;
+  arm*)
+    binfmt_misc_required=0
+    ;;
+esac
+
+# Check if qemu-aarch64-static and /proc/sys/fs/binfmt_misc are present
+if [[ "${binfmt_misc_required}" == "1" ]]; then
+  if ! qemu_arm=$(which qemu-aarch64-static) ; then
+    echo "qemu-aarch64-static not found (please install qemu-user-static)"
+    exit 1
+  fi
+  if [ ! -f /proc/sys/fs/binfmt_misc/register ]; then
+    echo "binfmt_misc required but not mounted, trying to mount it..."
+    if ! mount binfmt_misc -t binfmt_misc /proc/sys/fs/binfmt_misc ; then
+        echo "mounting binfmt_misc failed"
+        exit 1
+    fi
+    echo "binfmt_misc mounted"
+  fi
+  if ! grep -q "^interpreter ${qemu_arm}" /proc/sys/fs/binfmt_misc/qemu-aarch64* ; then
+    # Register qemu-aarch64 for binfmt_misc
+    reg="echo ':qemu-aarch64-rpi:M::"\
+"\x7fELF\x02\x01\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x02\x00\xb7\x00:"\
+"\xff\xff\xff\xff\xff\xff\xff\x00\xff\xff\xff\xff\xff\xff\xff\xff\xfe\xff\xff\xff:"\
+"${qemu_arm}:F' > /proc/sys/fs/binfmt_misc/register"
+    echo "Registering qemu-aarch64 for binfmt_misc..."
+    sudo bash -c "${reg}" 2>/dev/null || true
+  fi
+fi
+
+trap 'echo "got CTRL+C... please wait 5s" && ${DOCKER} stop -t 5 ${DOCKER_CMDLINE_NAME}' SIGINT SIGTERM
+time ${DOCKER} run \
+  $DOCKER_CMDLINE_PRE \
+  --name "${DOCKER_CMDLINE_NAME}" \
+  --privileged \
+  --cap-add=ALL \
+  -v /dev:/dev \
+  -v /lib/modules:/lib/modules \
+  ${PIGEN_DOCKER_OPTS} \
+  --volume "${CONFIG_FILE}":/config:ro \
+  -e "GIT_HASH=${GIT_HASH}" \
+  -e IMG_VERSION="${IMG_VERSION}"\
+  $DOCKER_CMDLINE_POST \
+  pi-gen \
+  bash -e -o pipefail -c "
+    dpkg-reconfigure qemu-user-static &&
+    # binfmt_misc is sometimes not mounted with debian bullseye image
+    (mount binfmt_misc -t binfmt_misc /proc/sys/fs/binfmt_misc || true) &&
+    cd /pi-gen; ./build.sh ${BUILD_OPTS} &&
+    rsync -av work/*/build.log deploy/
+  " &
+  wait "$!"
+
+# Ensure that deploy/ is always owned by calling user
 echo "copying results from deploy/"
-${DOCKER} cp "${CONTAINER_NAME}":/pi-gen/deploy .
+${DOCKER} cp "${CONTAINER_NAME}":/pi-gen/deploy - | tar -xf -
+
+echo "copying log from container ${CONTAINER_NAME} to deploy/"
+${DOCKER} logs --timestamps "${CONTAINER_NAME}" &>deploy/build-docker.log
+
 ls -lah deploy
 
 # cleanup

build.sh

@@ -194,6 +194,7 @@ trap term EXIT INT TERM
 
 export PI_GEN=${PI_GEN:-pi-gen}
 export PI_GEN_REPO=${PI_GEN_REPO:-https://github.com/RPi-Distro/pi-gen}
+export PI_GEN_RELEASE=${PI_GEN_RELEASE:-Raspberry Pi reference}
 
 if [ -z "${IMG_NAME}" ]; then
 	echo "IMG_NAME not set" 1>&2
@@ -229,9 +230,7 @@ export TARGET_HOSTNAME=${TARGET_HOSTNAME:-raspberrypi}
 export FIRST_USER_NAME=${FIRST_USER_NAME:-pi}
 export FIRST_USER_PASS
 export DISABLE_FIRST_BOOT_USER_RENAME=${DISABLE_FIRST_BOOT_USER_RENAME:-0}
-export RELEASE=${RELEASE:-bullseye} # Don't forget to update stage0/prerun.sh
-export WPA_ESSID
-export WPA_PASSWORD
+export RELEASE=${RELEASE:-bookworm} # Don't forget to update stage0/prerun.sh
 export WPA_COUNTRY
 export ENABLE_SSH="${ENABLE_SSH:-1}"
 export PUBKEY_ONLY_SSH="${PUBKEY_ONLY_SSH:-0}"

config

@@ -1,3 +1,4 @@
+PI_GEN_RELEASE=WPILibPi
 IMG_NAME='WPILibPi_64'
 TARGET_HOSTNAME=wpilibpi
 FIRST_USER_PASS=raspberry

deps/tools/configServer/src/Application.h

@@ -11,10 +11,7 @@
 #include <string_view>
 
 #include <wpi/Signal.h>
-
-namespace wpi {
-class json;
-}  // namespace wpi
+#include <wpi/json_fwd.h>
 
 class UploadHelper;
 

deps/tools/configServer/src/NetworkSettings.cpp

@@ -6,6 +6,7 @@
 
 #include <unistd.h>
 
+#include <bit>
 #include <string>
 #include <vector>
 
@@ -56,8 +57,8 @@ bool NetmaskToCidr(std::string_view netmask, unsigned int* cidr) {
   in_addr addr;
   if (wpi::uv::NameToAddr(netmask, &addr) != 0) return false;
   uint32_t hostAddr = ntohl(addr.s_addr);
-  auto leadingOnes = wpi::countLeadingOnes(hostAddr);
-  auto trailingZeros = wpi::countTrailingZeros(hostAddr);
+  auto leadingOnes = std::countl_one(hostAddr);
+  auto trailingZeros = std::countr_zero(hostAddr);
   if (leadingOnes + trailingZeros != 32) return false;
   *cidr = leadingOnes;
   return true;
@@ -123,19 +124,19 @@ static std::string BuildDhcpcdSetting(
       break;
     case NetworkSettings::kStatic:
       fmt::print(os, "interface {}\n", iface);
-      fmt::print(os, "static ip_address={}/{}\n", addressOut, cidr);
+      fmt::print(os, "static ip_address={}/{}\n", addressOut.str(), cidr);
       if (!gatewayOut.empty())
-        fmt::print(os, "static routers={}\n", gatewayOut);
+        fmt::print(os, "static routers={}\n", gatewayOut.str());
       if (!dnsOut.empty())
-        fmt::print(os, "static domain_name_servers={}\n", dnsOut);
+        fmt::print(os, "static domain_name_servers={}\n", dnsOut.str());
       break;
     case NetworkSettings::kDhcpStatic:
       fmt::print(os, "profile static_{}\n", iface);
-      fmt::print(os, "static ip_address={}/{}\n", addressOut, cidr);
+      fmt::print(os, "static ip_address={}/{}\n", addressOut.str(), cidr);
       if (!gatewayOut.empty())
-        fmt::print(os, "static routers={}\n", gatewayOut);
+        fmt::print(os, "static routers={}\n", gatewayOut.str());
       if (!dnsOut.empty())
-        fmt::print(os, "static domain_name_servers={}\n", dnsOut);
+        fmt::print(os, "static domain_name_servers={}\n", dnsOut.str());
       fmt::print(os, "interface {}\n", iface);
       fmt::print(os, "fallback static_{}\n", iface);
       break;

deps/tools/configServer/src/NetworkSettings.h

@@ -10,12 +10,9 @@
 #include <string_view>
 
 #include <wpi/Signal.h>
+#include <wpi/json_fwd.h>
 #include <wpinet/uv/Loop.h>
 
-namespace wpi {
-class json;
-}  // namespace wpi
-
 class NetworkSettings {
   struct private_init {};
 

deps/tools/configServer/src/RomiStatus.cpp

@@ -14,6 +14,7 @@
 #include <string_view>
 
 #include <fmt/format.h>
+#include <wpi/MemoryBuffer.h>
 #include <wpi/SmallString.h>
 #include <wpi/fmt/raw_ostream.h>
 #include <wpi/fs.h>
@@ -237,17 +238,18 @@ wpi::json RomiStatus::ReadRomiConfigFile(
     std::function<void(std::string_view)> onFail) {
   // Read config file
   std::error_code ec;
-  wpi::raw_fd_istream is(ROMI_JSON, ec);
+  std::unique_ptr<wpi::MemoryBuffer> fileBuffer =
+      wpi::MemoryBuffer::GetFile(ROMI_JSON, ec);
 
-  if (ec) {
+  if (fileBuffer == nullptr || ec) {
     onFail("Could not read romi config file");
     fmt::print(stderr, "could not read {}\n", ROMI_JSON);
     return wpi::json();
   }
 
   wpi::json j;
   try {
-    j = wpi::json::parse(is);
+    j = wpi::json::parse(fileBuffer->GetCharBuffer());
   } catch(const wpi::json::parse_error& e) {
     onFail("Parse error in config file");
     fmt::print(stderr, "Parse error in {}: byte {}: {}\n", ROMI_JSON, e.byte,

deps/tools/configServer/src/RomiStatus.h

@@ -12,15 +12,12 @@
 
 #include <cscore.h>
 #include <wpi/Signal.h>
+#include <wpi/json_fwd.h>
 #include <wpinet/uv/Loop.h>
 
-namespace wpi {
-class json;
-
-namespace uv {
+namespace wpi::uv {
 class Buffer;
-}  // namespace uv
-}  // namespace wpi
+}  // namespace wpi::uv
 
 class RomiStatus {
   struct private_init {};

deps/tools/configServer/src/SystemStatus.h

@@ -8,13 +8,10 @@
 #include <memory>
 
 #include <wpi/Signal.h>
+#include <wpi/json_fwd.h>
 
 #include "DataHistory.h"
 
-namespace wpi {
-class json;
-}  // namespace wpi
-
 class SystemStatus {
   struct private_init {};
 

deps/tools/configServer/src/VisionSettings.cpp

@@ -5,6 +5,7 @@
 #include "VisionSettings.h"
 
 #include <fmt/format.h>
+#include <wpi/MemoryBuffer.h>
 #include <wpi/fs.h>
 #include <wpi/json.h>
 #include <wpi/raw_istream.h>
@@ -41,15 +42,17 @@ void VisionSettings::UpdateStatus() { status(GetStatusJson()); }
 
 wpi::json VisionSettings::GetStatusJson() {
   std::error_code ec;
-  wpi::raw_fd_istream is(FRC_JSON, ec);
-  if (ec) {
+  std::unique_ptr<wpi::MemoryBuffer> fileBuffer =
+      wpi::MemoryBuffer::GetFile(FRC_JSON, ec);
+
+  if (fileBuffer == nullptr || ec) {
     fmt::print(stderr, "could not read {}\n", FRC_JSON);
     return wpi::json();
   }
 
   try {
     wpi::json j = {{"type", "visionSettings"},
-                   {"settings", wpi::json::parse(is)}};
+                   {"settings", wpi::json::parse(fileBuffer->GetCharBuffer())}};
     return j;
   } catch (wpi::json::exception& e) {
     fmt::print(stderr, "could not parse {}\n", FRC_JSON);