diff --git a/.dockerignore b/.dockerignore new file mode 100644 index 0000000..5cd7ec7 --- /dev/null +++ b/.dockerignore @@ -0,0 +1 @@ +/bin/ubxtool.* diff --git a/.github/workflows/ubxtool.yml b/.github/workflows/ubxtool.yml new file mode 100644 index 0000000..415b655 --- /dev/null +++ b/.github/workflows/ubxtool.yml @@ -0,0 +1,104 @@ +name: Release static ubxtool binaries + +on: + push: + tags: + - 'ubxtool-v*' + +jobs: + build: + runs-on: ubuntu-latest + strategy: + matrix: + mach: [i686, x86_64, armv6l, armv7l, aarch64] + steps: + - uses: actions/checkout@v2 + - name: submodules + run: git submodule update --init --recursive --depth=1 + - name: register qemu-user-static + run: sudo docker run --rm --interactive --privileged multiarch/qemu-user-static:register --reset + - name: build-ubxtool + run: ./build-ubxtool ${{ matrix.mach }} static && rm -f bin/.keep + - name: xz + run: xz -8 bin/ubxtool.${{ matrix.mach }}-static + - uses: actions/upload-artifact@v1 + with: + name: ubxtool + path: bin/ubxtool.${{ matrix.mach }}-static.xz + # All binaries are uploaded to the same artifact archive. It may + # eventually change: https://github.com/actions/upload-artifact/issues/24 + + # release does not need 5 parallel running VMs, so it's a separate job + release: + needs: [build] + runs-on: ubuntu-latest + env: + # All the steps but download-artifact and sha256sum need it. + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + steps: + - uses: actions/download-artifact@v1 + with: + name: ubxtool + + - name: sha256sum + working-directory: ubxtool + run: sha256sum ubxtool.*.xz >SHA256SUMS + + - uses: actions/create-release@v1 + id: create_release + with: + tag_name: ${{ github.ref }} + release_name: Release ${{ github.ref }} + body: GitHub-built release + draft: false + prerelease: true + + # That's a copy-pasta instead of a matrix job to avoid spawing a VM for each upload. + - name: upload i686 + uses: actions/upload-release-asset@v1 + with: + upload_url: ${{ steps.create_release.outputs.upload_url }} + asset_path: ubxtool/ubxtool.i686-static.xz + asset_name: ubxtool.i686-static.xz + asset_content_type: application/x-xz + + - name: upload x86_64 + uses: actions/upload-release-asset@v1 + with: + upload_url: ${{ steps.create_release.outputs.upload_url }} + asset_path: ubxtool/ubxtool.x86_64-static.xz + asset_name: ubxtool.x86_64-static.xz + asset_content_type: application/x-xz + + - name: upload armv6l + uses: actions/upload-release-asset@v1 + with: + upload_url: ${{ steps.create_release.outputs.upload_url }} + asset_path: ubxtool/ubxtool.armv6l-static.xz + asset_name: ubxtool.armv6l-static.xz + asset_content_type: application/x-xz + + - name: upload armv7l + uses: actions/upload-release-asset@v1 + with: + upload_url: ${{ steps.create_release.outputs.upload_url }} + asset_path: ubxtool/ubxtool.armv7l-static.xz + asset_name: ubxtool.armv7l-static.xz + asset_content_type: application/x-xz + + - name: upload aarch64 + uses: actions/upload-release-asset@v1 + with: + upload_url: ${{ steps.create_release.outputs.upload_url }} + asset_path: ubxtool/ubxtool.aarch64-static.xz + asset_name: ubxtool.aarch64-static.xz + asset_content_type: application/x-xz + + # The last one. + - name: upload SHA256SUMS + uses: actions/upload-release-asset@v1 + with: + upload_url: ${{ steps.create_release.outputs.upload_url }} + asset_path: ubxtool/SHA256SUMS + asset_name: SHA256SUMS + asset_content_type: text/plain diff --git a/.gitignore b/.gitignore index 7f887f7..9465fca 100644 --- a/.gitignore +++ b/.gitignore @@ -10,6 +10,10 @@ navrecv testrunner tlecatch ubxtool +ubxtool.nodeps +ubxtool.static +# - created by build-ubxtool +/bin/ubxtool.* # - created by update-tles active.txt beidou.txt diff --git a/Dockerfile.ubxtool.glibc b/Dockerfile.ubxtool.glibc new file mode 100644 index 0000000..acec289 --- /dev/null +++ b/Dockerfile.ubxtool.glibc @@ -0,0 +1,39 @@ +# See `build-ubxtool` script for cross-compilation options. + +# `FROM` needs `ARG`s to be specified before the very first `FROM` instruction. +# See https://docs.docker.com/engine/reference/builder/#understand-how-arg-and-from-interact +ARG UBUNTU=ubuntu: +ARG BUSYBOX=busybox: + +FROM ${UBUNTU}bionic AS build-env + +ENV DEBIAN_FRONTEND noninteractive +ENV LC_ALL C.UTF-8 + +# This allows you to use a local Ubuntu mirror +ARG APT_URL= +ENV APT_URL ${APT_URL:-mirror://mirrors.ubuntu.com/mirrors.txt} +RUN set -ex && \ + sed -i "s%http://archive.ubuntu.com/ubuntu/%${APT_URL}%" /etc/apt/sources.list && \ + apt-get update && \ + apt-get upgrade -y && \ + apt-get install -y \ + build-essential \ + g++ \ + git \ + libprotobuf-dev \ + libzstd-dev \ + make \ + protobuf-compiler \ + && \ + apt-get -y clean && \ + : + +ARG NCPU=1 +ADD . /galmon/ +WORKDIR /galmon +RUN make -j$NCPU ubxtool.nodeps + +FROM ${BUSYBOX}glibc +COPY --from=build-env /galmon/ubxtool.nodeps /opt/ubxtool +ENTRYPOINT ["/opt/ubxtool"] diff --git a/Dockerfile.ubxtool.static b/Dockerfile.ubxtool.static new file mode 100644 index 0000000..185aad2 --- /dev/null +++ b/Dockerfile.ubxtool.static @@ -0,0 +1,38 @@ +# See `build-ubxtool` script for cross-compilation options. + +ARG ALPINE=alpine: + +# 1. GCC has issues with exception unwinding with static build of libmusl. +# The bug is fixed for gcc-10, but alpine:3.11 has 9.2.0-r3 and alpine:3.10 has 8.3.0-r0. +# Both are affected per test and https://gcc.gnu.org/bugzilla/show_bug.cgi?id=91737 +# +# 2. clang-9.0.0-r1 from alpine:3.11 generates wrong FPU instructions for Raspberry Pi 1 B+ and Zero. +# It uses d{16..31} registers for a VFPv2 FPU and that leads to SIGILL. +# The bug is described at https://reviews.llvm.org/D67375 +# The bug is fixed in clang-10: https://reviews.llvm.org/rGddf5e86c222c6b5226be53e1250421fe608bb4d0 +# +# 3. clang-8.0.0-r0 from alpine:3.10 is not affected by the bug, so we use it. +FROM ${ALPINE}3.10 AS build-env + +# g++ is still installed to bring C++ headers like , , etc. +# See https://pkgs.alpinelinux.org/contents?file=iostream&branch=v3.10&arch=armhf +RUN set -ex && \ + apk add --no-cache \ + clang \ + g++ \ + git \ + make \ + protobuf-dev \ + zstd-dev \ + zstd-static \ + && \ + : + +ARG NCPU=1 +ADD . /galmon/ +WORKDIR /galmon/ +RUN CXX=clang make -j$NCPU ubxtool.static + +FROM scratch +COPY --from=build-env /galmon/ubxtool.static /opt/ubxtool +ENTRYPOINT ["/opt/ubxtool"] diff --git a/Makefile b/Makefile index 884c31f..84d2956 100644 --- a/Makefile +++ b/Makefile @@ -27,6 +27,8 @@ CHEAT_ARG := $(shell ./update-git-hash-if-necessary) PROGRAMS = navparse ubxtool navnexus navcat navrecv navdump testrunner navdisplay tlecatch reporter sp3feed \ galmonmon rinreport rtcmtool +EXTRA_PROGRAMS = ubxtool.static ubxtool.nodeps + all: navmon.pb.cc $(PROGRAMS) -include Makefile.local @@ -44,7 +46,7 @@ H2OPP=ext/powerblog/h2o-pp.o SIMPLESOCKETS=ext/powerblog/ext/simplesocket/swrappers.o ext/powerblog/ext/simplesocket/sclasses.o ext/powerblog/ext/simplesocket/comboaddress.o clean: - rm -f *~ *.o *.d ext/*/*.o ext/*/*.d $(PROGRAMS) navmon.pb.h navmon.pb.cc $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) $(H2OPP) $(SIMPLESOCKETS) + rm -f *~ *.o *.d ext/*/*.o ext/*/*.d $(PROGRAMS) $(EXTRA_PROGRAMS) navmon.pb.h navmon.pb.cc $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) $(H2OPP) $(SIMPLESOCKETS) rm -f ext/fmt-6.1.2/src/format.[do] ext/sgp4/libsgp4/*.d ext/powerblog/ext/simplesocket/*.d help2man: @@ -121,8 +123,16 @@ rtcmtool: rtcmtool.o navmon.pb.o githash.o ext/fmt-6.1.2/src/format.o bits.o nm $(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -lz -pthread -lprotobuf -lzstd -ubxtool: navmon.pb.o ubxtool.o ubx.o bits.o ext/fmt-6.1.2/src/format.o galileo.o gps.o beidou.o navmon.o ephemeris.o $(SIMPLESOCKETS) osen.o githash.o nmmsender.o zstdwrap.o +UBXTOOL_DEPS = navmon.pb.o ubxtool.o ubx.o bits.o ext/fmt-6.1.2/src/format.o galileo.o gps.o beidou.o navmon.o ephemeris.o $(SIMPLESOCKETS) osen.o githash.o nmmsender.o zstdwrap.o + +ubxtool: $(UBXTOOL_DEPS) $(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -lprotobuf -pthread -lzstd +# Static build with musl on alpine and clang +ubxtool.static: $(UBXTOOL_DEPS) + $(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -lprotobuf -pthread -lzstd -lstdc++ -static +# Static linking of `glibc` is non-trivial, so glibc is kept dynamically linked +ubxtool.nodeps: $(UBXTOOL_DEPS) + $(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib /usr/lib/*-linux-*/libprotobuf.a -pthread /usr/lib/*-linux-*/libzstd.a -static-libgcc -static-libstdc++ testrunner: navmon.pb.o testrunner.o ubx.o bits.o ext/fmt-6.1.2/src/format.o galileo.o gps.o beidou.o ephemeris.o sp3.o osen.o navmon.o rinex.o githash.o $(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -lprotobuf -lz diff --git a/README.md b/README.md index e0cddef..6b17964 100644 --- a/README.md +++ b/README.md @@ -116,6 +116,24 @@ docker run -d --restart=always --device=/dev/ttyACM0 --name=galmon galmon/galmon To make your docker container update automatically you could use a tool such as [watchtower](https://containrrr.github.io/watchtower/). +Build `ubxtool` in Docker +------------------------- + +To build a minimal `ubxtool` docker image: + +``` +git clone https://github.com/ahupowerdns/galmon.git --recursive +./build-ubxtool +``` + +It may also cross-compile a binary and an image for a Raspberry Pi: + +``` +git clone https://github.com/ahupowerdns/galmon.git --recursive +docker run -it --rm --privileged multiarch/qemu-user-static:register --reset +./build-ubxtool armv6l +``` + Running ------- diff --git a/bin/.keep b/bin/.keep new file mode 100644 index 0000000..e69de29 diff --git a/build-ubxtool b/build-ubxtool new file mode 100755 index 0000000..36ce13b --- /dev/null +++ b/build-ubxtool @@ -0,0 +1,95 @@ +#!/bin/bash +# +# The script relies on the following project: +# - https://github.com/multiarch/qemu-user-static +# - https://github.com/multiarch/ubuntu-core +# - https://github.com/multiarch/alpine +# +# It's also probably possible to use more official {i386,amd64,arm32v6,arm32v7,arm64v8}/alpine +# images adding qemu binary from multiarch/qemu-user-static:{arm,arm64} to them. +# +# Register qemu-user-static before building +# $ docker run --rm --privileged multiarch/qemu-user-static:register --reset + +set -e + +this_mach=$(uname --machine) +ncpu=$(grep -c ^processor /proc/cpuinfo) + +if [ "$this_mach" != "x86_64" ]; then + echo "$0: build was tested on x86_64, not on this <$this_mach>" 1>&2 +fi + +mach=${1:-${this_mach}} +libc=${2:-static} + +case "$mach" in + i686) + alpine=x86 # official: i386/alpine + ubuntu=x86 + busybox=i386 + ;; + x86_64) + alpine=x86_64 # official: amd64/alpine + ubuntu=x86_64 + busybox=amd64 + ;; + armv6l) + # For Raspberry 1 and Zero. + # Tested on Raspberry 1 B+ (BCM2835 rev. 0010). + alpine=armhf # official: arm32v6/alpine + ubuntu=* + busybox=arm32v6 + ;; + armv7l) + # For Raspberry 2 and 3. + # Tested on Raspberry 3 Model B (BCM2835 revision a02082). + # Tested on Raspberry 3 Model B+ (BCM2835 revision a020d3). + alpine=armv7 # official: arm32v7/alpine + ubuntu=armhf + busybox=arm32v7 + ;; + aarch64) + # For Raspberry 4? + alpine=arm64 # official: arm64v8/alpine + ubuntu=arm64 # or aarch64? See https://wiki.ubuntu.com/ARM/RaspberryPi#Ubuntu_arm64.2FAArch64 + busybox=arm64v8 + ;; + *) + echo "$0: unknown machine hardware name <$mach>, known are: {i686,x86_64,armv6l,armv7l,aarch64}" 1>&2 + exit 1 +esac + +case "$libc" in + static) + img="--build-arg ALPINE=multiarch/alpine:${alpine}-v" + ;; + glibc) + if [ "$ubuntu" = "*" ]; then + echo "$0: unsupported combination of machine <$mach> and libc <$libc>" 1>&2 + exit 1 + fi + img="--build-arg UBUNTU=multiarch/ubuntu-core:${ubuntu}- --build-arg BUSYBOX=${busybox}/busybox:" + ;; + *) + echo "$0: unknown libc <$libc>, known are: {static,glibc}" 1>&2 + exit 1 +esac + +# Base image is set with `ARG` and not with `sed Dockerfile | docker build -f -` +# as streaming Dockerfile to stdin actually saves it to a file and adds a line +# like ".dockerfile.8a2b17b1408769bf5047" to .dockerignore. And .dockerignore +# should not be touched to make reasonable `githash.h`. + +tag="${mach}-${libc}" + +docker build \ + --build-arg NCPU=${ncpu} \ + ${img} \ + -f Dockerfile.ubxtool.${libc} \ + --tag ubxtool:${tag} \ + . + +cntr=$(docker create ubxtool:${tag}) +docker cp ${cntr}:/opt/ubxtool bin/ubxtool.${tag} +docker rm ${cntr} diff --git a/ubxtool.cc b/ubxtool.cc index c750253..4523d46 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -18,6 +18,7 @@ #include #include #include +#include #include "fmt/format.h" #include "fmt/printf.h" #include "bits.hh"