Add cross compilation for Python

.github/workflows/main.yml

@@ -2,6 +2,10 @@ name: CI
 
 on: [push, pull_request, workflow_dispatch]
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   build:
     name: Build
@@ -14,3 +18,74 @@ jobs:
           docker login -u ${{ secrets.DOCKER_USERNAME }} -p ${{ secrets.DOCKER_PASSWORD }}
           make push
         if: ${{ github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main' }} 
+
+  build-minimal:
+    name: Build Minimal
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - run: make update
+      - run: make build/minimal-cross
+      - run: |
+          docker login -u ${{ secrets.DOCKER_USERNAME }} -p ${{ secrets.DOCKER_PASSWORD }}
+          make push/minimal-cross
+        if: ${{ github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main' }}
+
+      - run: make save/minimal-cross
+      - uses: actions/upload-artifact@v3
+        with:
+          name: roborio
+          path: roborio.tar.gz
+          retention-days: 1
+      - uses: actions/upload-artifact@v3
+        with:
+          name: raspbian
+          path: raspbian.tar.gz
+          retention-days: 1
+      - uses: actions/upload-artifact@v3
+        with:
+          name: aarch64
+          path: aarch64.tar.gz
+          retention-days: 1
+
+  build-python:
+    name: Build Python Images
+    needs: [build-minimal]
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        type:
+        - raspbian
+        - aarch64
+        pyversion:
+        - py38
+        - py39
+        - py310
+        - py311
+        - py312
+        include:
+        - type: roborio
+          pyversion: py312
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - name: Download image
+      uses: actions/download-artifact@v3
+      with:
+        name: ${{ matrix.type }}
+        path: img
+
+    - name: Load image
+      run: |
+        gunzip -c img/${{ matrix.type }}.tar.gz | docker load
+        rm img/${{ matrix.type }}.tar.gz
+
+    - name: Build image
+      run: make build/cross-${{ matrix.type }}-${{ matrix.pyversion }}
+
+    - name: Upload image
+      run: |
+          docker login -u ${{ secrets.DOCKER_USERNAME }} -p ${{ secrets.DOCKER_PASSWORD }}
+          make push/cross-${{ matrix.type }}-${{ matrix.pyversion }}
+      if: ${{ github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main' }}

Makefile

@@ -4,8 +4,8 @@ OPENSDK_UBUNTU?=20.04
 DOCKER_USER?=wpilib
 
 .PHONY: usage update push build \
-	$(patsubst %,build/%, base cross opensdl)
-	$(patsubst %,push/%, base cross opensdl)
+	$(patsubst %,build/%, base cross minimal-base minimal-cross opensdk)
+	$(patsubst %,push/%, base cross minimal-base minimal-cross opensdk)
 usage:
 	@echo "Run make update, make build, and make push"
 
@@ -23,12 +23,24 @@ build/base:
 
 build/cross: build/base
 	cd roborio-cross-ubuntu && \
-	    docker build -t ${DOCKER_USER}/roborio-cross-ubuntu:2024-${UBUNTU} -f Dockerfile.2024 --build-arg UBUNTU=${UBUNTU} .
+	    docker build -t ${DOCKER_USER}/roborio-cross-ubuntu:2024-${UBUNTU} -f Dockerfile.2024 --build-arg UBUNTU=${UBUNTU} --build-arg TYPE=base .
 	cd raspbian-cross-ubuntu && \
-	    docker build -t ${DOCKER_USER}/raspbian-cross-ubuntu:bullseye-${UBUNTU} -f Dockerfile.bullseye --build-arg UBUNTU=${UBUNTU} .
+	    docker build -t ${DOCKER_USER}/raspbian-cross-ubuntu:bullseye-${UBUNTU} -f Dockerfile.bullseye --build-arg UBUNTU=${UBUNTU} --build-arg TYPE=base .
 	cd aarch64-cross-ubuntu && \
-	    docker build -t ${DOCKER_USER}/aarch64-cross-ubuntu:bullseye-${UBUNTU} -f Dockerfile.bullseye --build-arg UBUNTU=${UBUNTU} .
-
+	    docker build -t ${DOCKER_USER}/aarch64-cross-ubuntu:bullseye-${UBUNTU} -f Dockerfile.bullseye --build-arg UBUNTU=${UBUNTU} --build-arg TYPE=base .
+
+build/minimal-base:
+	cd ubuntu-minimal-base && \
+		docker build -t ${DOCKER_USER}/ubuntu-minimal-base:${UBUNTU} -f Dockerfile.${UBUNTU} .
+
+build/minimal-cross: build/minimal-base
+	cd roborio-cross-ubuntu && \
+	    docker build -t ${DOCKER_USER}/roborio-cross-ubuntu-minimal:2024-${UBUNTU} -f Dockerfile.2024 --build-arg UBUNTU=${UBUNTU} --build-arg TYPE=minimal-base .
+	cd raspbian-cross-ubuntu && \
+	    docker build -t ${DOCKER_USER}/raspbian-cross-ubuntu-minimal:bullseye-${UBUNTU} -f Dockerfile.bullseye --build-arg UBUNTU=${UBUNTU} --build-arg TYPE=minimal-base .
+	cd aarch64-cross-ubuntu && \
+	    docker build -t ${DOCKER_USER}/aarch64-cross-ubuntu-minimal:bullseye-${UBUNTU} -f Dockerfile.bullseye --build-arg UBUNTU=${UBUNTU} --build-arg TYPE=minimal-base .
+
 build/opensdk:
 	cd opensdk/ubuntu && \
 		docker build -t ${DOCKER_USER}/opensdk-ubuntu:${OPENSDK_UBUNTU} --build-arg OPENSDK_UBUNTU=${OPENSDK_UBUNTU} .
@@ -44,5 +56,22 @@ push/cross: push/base
 	docker push ${DOCKER_USER}/raspbian-cross-ubuntu:bullseye-${UBUNTU}
 	docker push ${DOCKER_USER}/aarch64-cross-ubuntu:bullseye-${UBUNTU}
 
+push/minimal-base:
+	docker push ${DOCKER_USER}/ubuntu-minimal-base:${UBUNTU}
+
+push/minimal-cross: push/minimal-base
+	docker push ${DOCKER_USER}/roborio-cross-ubuntu-minimal:2024-${UBUNTU}
+	docker push ${DOCKER_USER}/raspbian-cross-ubuntu-minimal:bullseye-${UBUNTU}
+	docker push ${DOCKER_USER}/aarch64-cross-ubuntu-minimal:bullseye-${UBUNTU}
+
 push/opensdk:
 	docker push ${DOCKER_USER}/opensdk-ubuntu:${OPENSDK_UBUNTU}
+
+
+.PHONY: save/minimal-cross
+save/minimal-cross:
+	docker save ${DOCKER_USER}/roborio-cross-ubuntu-minimal:2024-${UBUNTU} | gzip > roborio.tar.gz
+	docker save ${DOCKER_USER}/raspbian-cross-ubuntu-minimal:bullseye-${UBUNTU} | gzip > raspbian.tar.gz
+	docker save ${DOCKER_USER}/aarch64-cross-ubuntu-minimal:bullseye-${UBUNTU} | gzip > aarch64.tar.gz
+
+include cross-ubuntu-py/py.mk

README.md

@@ -9,25 +9,40 @@ ubuntu-base
  - Base image for cross-compiler images
  - Published as wpilib/ubuntu-base:host ubuntu version (e.g. 18.04)
 
+ubuntu-minimal-base
+ - Based on official ubuntu repo (host)
+ - Base image for minimal cross-compiler images that only contain cross compiler
+ - Published as wpilib/ubuntu-minimal-base:host ubuntu version (e.g. 18.04)
+
 roborio-cross-ubuntu
  - Based on wpilib/ubuntu-base
  - Cross-compiler for roboRIO
  - Published as wpilib/roborio-cross-ubuntu:frc season-host ubuntu version
    (e.g. 2020-18.04)
+ - Minimal variant published as roborio-cross-ubuntu-minimal
 
 raspbian-cross-ubuntu
  - Based on wpilib/ubuntu-base
  - Cross-compiler for Raspbian
  - Published as wpilib/raspbian-cross-ubuntu:target version-host ubuntu version
    (e.g. 10-18.04)
+ - Minimal variant published as raspbian-cross-ubuntu-minimal
 
 aarch64-cross-ubuntu
  - Based on wpilib/ubuntu-base
  - Cross-compiler for aarch64 (TX2 and Nano)
  - Published as wpilib/aarch-cross-ubuntu:target version-host ubuntu version
    (e.g. bionic-18.04)
+ - Minimal variant published as raspbian-cross-ubuntu-aarch64
 
 gazebo-ubuntu
  - Based on wpilib/ubuntu-base
  - Installs gazebo and protobuf required to build gazebo plugins
  - Published as wpilib/gazebo-ubuntu:host ubuntu version (e.g. 18.04)
+
+roborio-cross-ubuntu-pyXXX
+raspbian-cross-ubuntu-pyXXX
+aarch64-cross-ubuntu-pyXXX
+- Based on the minimal cross compiler image
+- Contains crossenv at /build/venv for cross-compiling python wheels
+- Published as wpilib/{type}-cross-ubuntu:{version}-{ubuntu}-py{pyversion}

aarch64-cross-ubuntu/Dockerfile.bullseye

@@ -1,5 +1,6 @@
 ARG UBUNTU=22.04
-FROM wpilib/ubuntu-base:${UBUNTU}
+ARG TYPE=base
+FROM wpilib/ubuntu-${TYPE}:${UBUNTU}
 
 # Install toolchain
 RUN curl -SL https://github.com/wpilibsuite/opensdk/releases/download/v2024-1/arm64-bullseye-2024-x86_64-linux-gnu-Toolchain-10.2.0.tgz | sh -c 'mkdir -p /usr/local && cd /usr/local && tar xzf - --strip-components=2'

cross-ubuntu-py/0001-Use-specified-host_cpu-when-cross-compiling-for-Linu.patch

@@ -0,0 +1,53 @@
+From 1325a6365032f2c7dea4f823003f46305724a6a6 Mon Sep 17 00:00:00 2001
+From: Dustin Spicuzza <[email protected]>
+Date: Sat, 1 Jan 2022 22:44:03 -0500
+Subject: [PATCH] Use specified $host_cpu when cross compiling for Linux
+
+Previously arm processors were hardcoded to "arm", which doesn't match
+the output of uname -m (used for native compilation)
+---
+ configure    | 8 +-------
+ configure.ac | 8 +-------
+ 2 files changed, 2 insertions(+), 14 deletions(-)
+
+diff --git a/configure b/configure
+index 2e7e0b7e0a..d91928fb79 100755
+--- a/configure
++++ b/configure
+@@ -3383,13 +3383,7 @@ $as_echo "\"$MACHDEP\"" >&6; }
+ if test "$cross_compiling" = yes; then
+ 	case "$host" in
+ 	*-*-linux*)
+-		case "$host_cpu" in
+-		arm*)
+-			_host_cpu=arm
+-			;;
+-		*)
+-			_host_cpu=$host_cpu
+-		esac
++		_host_cpu=$host_cpu
+ 		;;
+ 	*-*-cygwin*)
+ 		_host_cpu=
+diff --git a/configure.ac b/configure.ac
+index 0c06914147..897c3a00ef 100644
+--- a/configure.ac
++++ b/configure.ac
+@@ -438,13 +438,7 @@ AC_SUBST(_PYTHON_HOST_PLATFORM)
+ if test "$cross_compiling" = yes; then
+ 	case "$host" in
+ 	*-*-linux*)
+-		case "$host_cpu" in
+-		arm*)
+-			_host_cpu=arm
+-			;;
+-		*)
+-			_host_cpu=$host_cpu
+-		esac
++		_host_cpu=$host_cpu
+ 		;;
+ 	*-*-cygwin*)
+ 		_host_cpu=
+-- 
+2.31.1
+

cross-ubuntu-py/0001-bpo-41916-allow-cross-compiled-python-to-have-pthrea.patch

@@ -0,0 +1,85 @@
+From 0bca228707c3f69cb8e6b4bc59b2ecf54f1f7c76 Mon Sep 17 00:00:00 2001
+From: Dustin Spicuzza <[email protected]>
+Date: Sat, 3 Oct 2020 12:31:44 -0400
+Subject: [PATCH] bpo-41916: allow cross-compiled python to have -pthread set
+ for CXX
+
+When cross-compiling, the compile/run test for -pthread always fails so -pthread
+will never be automatically set without an override from the cache. ac_cv_pthread
+can already be overridden, so do the same thing for ac_cv_cxx_thread.
+---
+ configure    | 12 +++++++++---
+ configure.ac |  8 +++++---
+ 2 files changed, 14 insertions(+), 6 deletions(-)
+
+diff --git a/configure b/configure
+index 0914e24704..119d720500 100755
+--- a/configure
++++ b/configure
+@@ -7710,12 +7710,14 @@ fi
+
+ # If we have set a CC compiler flag for thread support then
+ # check if it works for CXX, too.
+-ac_cv_cxx_thread=no
+ if test ! -z "$CXX"
+ then
+ { $as_echo "$as_me:${as_lineno-$LINENO}: checking whether $CXX also accepts flags for thread support" >&5
+ $as_echo_n "checking whether $CXX also accepts flags for thread support... " >&6; }
+-ac_save_cxx="$CXX"
++if ${ac_cv_cxx_thread+:} false; then :
++  $as_echo_n "(cached) " >&6
++else
++  ac_save_cxx="$CXX"
+
+ if test "$ac_cv_kpthread" = "yes"
+ then
+@@ -7744,10 +7746,14 @@ then
+   fi
+   rm -fr conftest*
+ fi
++CXX="$ac_save_cxx"
++fi
++
+ { $as_echo "$as_me:${as_lineno-$LINENO}: result: $ac_cv_cxx_thread" >&5
+ $as_echo "$ac_cv_cxx_thread" >&6; }
++else
++  ac_cv_cxx_thread=no
+ fi
+-CXX="$ac_save_cxx"
+
+
+ # checks for header files
+diff --git a/configure.ac b/configure.ac
+index 7051dc109a..6259c0290c 100644
+--- a/configure.ac
++++ b/configure.ac
+@@ -2080,11 +2080,11 @@ fi
+
+ # If we have set a CC compiler flag for thread support then
+ # check if it works for CXX, too.
+-ac_cv_cxx_thread=no
+ if test ! -z "$CXX"
+ then
+ AC_MSG_CHECKING(whether $CXX also accepts flags for thread support)
+-ac_save_cxx="$CXX"
++AC_CACHE_VAL(ac_cv_cxx_thread,
++[ac_save_cxx="$CXX"
+
+ if test "$ac_cv_kpthread" = "yes"
+ then
+@@ -2113,9 +2113,11 @@ then
+   fi
+   rm -fr conftest*
+ fi
++CXX="$ac_save_cxx"])
+ AC_MSG_RESULT($ac_cv_cxx_thread)
++else
++  ac_cv_cxx_thread=no
+ fi
+-CXX="$ac_save_cxx"
+
+ dnl # check for ANSI or K&R ("traditional") preprocessor
+ dnl AC_MSG_CHECKING(for C preprocessor type)
+-- 
+2.26.2
+