Build tiny ubxtool docker image and a binary depending on just glibc

.dockerignore

@@ -0,0 +1 @@
+/bin/ubxtool.*

.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

.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

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"]

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 ${ALPINE}3.10 AS build-env
+
+# g++ is still installed to bring C++ headers like <string>, <map>, etc.
+# See https://pkgs.alpinelinux.org/contents?file=iostream&branch=v3.10&arch=armhf
+RUN set -ex && \
+    apk add --no-cache \
+        clang \
+        g++ \
+        git \
+        make \
+        protobuf-dev \
+        zstd-dev \
+        zstd-static \
+    && \
+    :
+
+ARG NCPU=1
+ADD . /galmon/
+WORKDIR /galmon/
+RUN CXX=clang make -j$NCPU ubxtool.static
+
+FROM scratch
+COPY --from=build-env /galmon/ubxtool.static /opt/ubxtool
+ENTRYPOINT ["/opt/ubxtool"]

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 

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
 -------
 

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}

ubxtool.cc

@@ -18,6 +18,7 @@
 #include <iostream>
 #include <fstream>
 #include <string.h>
+#include <signal.h>
 #include "fmt/format.h"
 #include "fmt/printf.h"
 #include "bits.hh"