Merge pull request #248 from toyota-connected/feat/pios-emb-cross

ci(pios): cross-compile via emb + a prebuilt toolchain image
2026-06-21 07:19:30 -07:00 · 2026-06-20 06:26:08 -07:00
parent 859cd1b51b c1cc940524
commit 867a79d56b
3 changed files with 274 additions and 72 deletions
@@ -0,0 +1,53 @@
+# Shared base for the ivi-homescreen board manifests in this .emb/ directory.
+#
+# emb (emb_cli) auto-discovers `.emb/` when you run `emb cross` against the
+# project root and deep-merges each <board>.emb.yaml over this base. Each board
+# file's target name is its filename (e.g. zero3.emb.yaml -> `--target zero3`),
+# or a `cross.targets` key. Build from the repo root (the directory that holds
+# CMakeLists.txt), which is what emb uses as the CMake source:
+#
+#   emb cross . --list-targets
+#   emb cross . --target zero3 --build --backend software \
+#       --app ../micro_cluster --mode release --deploy radxa@radxa-zero3.lan
+#   emb cross . --build                 # native host build of every backend below
+#
+# `base.emb.yaml` is the reserved base filename and is never itself a target.
+id: ivi-homescreen
+type: app
+supported_archs: [arm64, x86_64]
+supported_host_types: [fedora, ubuntu]
+
+cross:
+  # `provider` is required only to parse this block; it is ignored for the
+  # native (`--target local`, the default) build, which uses the host toolchain.
+  # Every board target overrides it with its own provider.
+  provider: arm-gnu
+  defines:
+    DISABLE_PLUGINS: 'ON'              # shared by the native build and the boards
+  # Native host backend matrix: `emb cross . --build` (no --target) compiles
+  # every backend with the host toolchain — the dev compile smoke-test. A board
+  # target declares its own cross.backends, which REPLACES this set (it does not
+  # union), so a board never inherits these host-only entries.
+  backends:
+    wayland-egl:
+      BUILD_BACKEND_WAYLAND_EGL: 'ON'
+      BUILD_BACKEND_WAYLAND_VULKAN: 'OFF'
+    wayland-vulkan:
+      BUILD_BACKEND_WAYLAND_EGL: 'OFF'
+      BUILD_BACKEND_WAYLAND_VULKAN: 'ON'
+    drm-kms-egl:
+      BUILD_BACKEND_DRM_KMS_EGL: 'ON'
+      BUILD_BACKEND_WAYLAND_EGL: 'OFF'
+      BUILD_BACKEND_WAYLAND_VULKAN: 'OFF'
+    drm-kms-vulkan:
+      BUILD_BACKEND_DRM_KMS_VULKAN: 'ON'
+      BUILD_BACKEND_WAYLAND_EGL: 'OFF'
+      BUILD_BACKEND_WAYLAND_VULKAN: 'OFF'
+    software:
+      BUILD_BACKEND_SOFTWARE: 'ON'
+      BUILD_BACKEND_WAYLAND_EGL: 'OFF'
+      BUILD_BACKEND_WAYLAND_VULKAN: 'OFF'
+    headless-egl:
+      BUILD_BACKEND_HEADLESS_EGL: 'ON'
+      BUILD_BACKEND_WAYLAND_EGL: 'OFF'
+      BUILD_BACKEND_WAYLAND_VULKAN: 'OFF'
@@ -0,0 +1,130 @@
+# ivi-homescreen on Raspberry Pi (PiOS aarch64) — the project layer.
+#
+# Hardware/OS facts (toolchain, sysroot image, partition, cpu tuning, base GUI
+# stack) come from emb's shipped board library (boards/raspberry-pi.emb.yaml);
+# each target `extends` a board and overlays this embedder's backends, augment,
+# and plugin packages. Driven by .github/workflows/pios.yml:
+#
+#   emb cross raspberry-pi.emb.yaml --list-targets
+#   emb cross raspberry-pi.emb.yaml --target rpi5-bookworm --publish --image <reg>
+#   emb cross raspberry-pi.emb.yaml --target rpi5-bookworm --build --backend drm-kms-egl -w /emb
+#
+# Backends: rpi5 builds all five (incl. drm-kms-vulkan); rpi4 and zero-2w build
+# the four without it. Plugins on (PLUGINS_DIR=../ivi-homescreen-plugins/plugins).
+# bookworm cross-builds libdisplay-info 0.2.0 (ships 0.1.1; drm-cxx needs >=0.2.0)
+# and omits apt libdisplay-info-dev so the static .a isn't shadowed; trixie ships
+# 0.2.0 and adds it. Vulkan headers are vendored, so neither OS stages them.
+id: ivi-homescreen
+type: app
+supported_archs: [arm64]
+supported_host_types: [ubuntu, fedora]
+
+build:
+  app_path: .
+  archs: [arm64]
+  modes: [release]
+  output: bundles
+
+cross:
+  defines:
+    BUILD_BACKEND_HEADLESS_EGL: 'OFF'
+    DISABLE_PLUGINS: 'OFF'
+    PLUGINS_DIR: '../ivi-homescreen-plugins/plugins'
+
+  package:
+    name: ivi-homescreen
+    version: 1.0.0
+    maintainer: "Joel Winarske <joel.winarske@gmail.com>"
+    description: "IVI Flutter Shell, cross-built by emb"
+    section: utils
+    bin: shell/homescreen
+    install_dir: /usr/bin
+
+  targets:
+    # -- Raspberry Pi 5 (Cortex-A76) — all five backends -----------------
+    rpi5-bookworm:
+      extends: rpi5-bookworm
+      sysroot:
+        dev_packages: &proj_packages_bookworm
+          - libcamera-dev
+          - libcurl4-openssl-dev
+          - libgstreamer1.0-dev
+          - libgstreamer-plugins-base1.0-dev
+          - libjpeg-dev
+          - libpipewire-0.3-dev
+          - libsecret-1-dev
+          - libxml2-dev
+      augment: &augment_bookworm
+        - pkg: libdisplay-info
+          min: "0.2.0"
+          url: https://gitlab.freedesktop.org/emersion/libdisplay-info/-/archive/0.2.0/libdisplay-info-0.2.0.tar.gz
+          build: meson
+          static: true
+      backends: &backends_rpi5
+        wayland-egl: &be_wayland_egl
+          BUILD_BACKEND_WAYLAND_EGL: 'ON'
+          BUILD_BACKEND_WAYLAND_VULKAN: 'OFF'
+          BUILD_BACKEND_DRM_KMS_EGL: 'OFF'
+          BUILD_BACKEND_SOFTWARE: 'OFF'
+        wayland-vulkan: &be_wayland_vulkan
+          BUILD_BACKEND_WAYLAND_EGL: 'OFF'
+          BUILD_BACKEND_WAYLAND_VULKAN: 'ON'
+          BUILD_BACKEND_DRM_KMS_EGL: 'OFF'
+          BUILD_BACKEND_SOFTWARE: 'OFF'
+        drm-kms-egl: &be_drm_kms_egl
+          BUILD_BACKEND_WAYLAND_EGL: 'OFF'
+          BUILD_BACKEND_WAYLAND_VULKAN: 'OFF'
+          BUILD_BACKEND_DRM_KMS_EGL: 'ON'
+          BUILD_BACKEND_SOFTWARE: 'OFF'
+        drm-kms-vulkan:
+          BUILD_BACKEND_WAYLAND_EGL: 'OFF'
+          BUILD_BACKEND_WAYLAND_VULKAN: 'OFF'
+          BUILD_BACKEND_DRM_KMS_EGL: 'OFF'
+          BUILD_BACKEND_DRM_KMS_VULKAN: 'ON'
+          BUILD_BACKEND_SOFTWARE: 'OFF'
+          BUILD_COMPOSITOR: 'ON'
+        software: &be_software
+          BUILD_BACKEND_WAYLAND_EGL: 'OFF'
+          BUILD_BACKEND_WAYLAND_VULKAN: 'OFF'
+          BUILD_BACKEND_DRM_KMS_EGL: 'OFF'
+          BUILD_BACKEND_SOFTWARE: 'ON'
+    rpi5-trixie:
+      extends: rpi5-trixie
+      sysroot:
+        dev_packages: &proj_packages_trixie
+          - libcamera-dev
+          - libcurl4-openssl-dev
+          - libgstreamer1.0-dev
+          - libgstreamer-plugins-base1.0-dev
+          - libjpeg-dev
+          - libpipewire-0.3-dev
+          - libsecret-1-dev
+          - libxml2-dev
+          - libdisplay-info-dev
+      backends: *backends_rpi5
+
+    # -- Raspberry Pi 4 (Cortex-A72) — four backends --------------------
+    rpi4-bookworm:
+      extends: rpi4-bookworm
+      sysroot: {dev_packages: *proj_packages_bookworm}
+      augment: *augment_bookworm
+      backends: &backends_four
+        wayland-egl: *be_wayland_egl
+        wayland-vulkan: *be_wayland_vulkan
+        drm-kms-egl: *be_drm_kms_egl
+        software: *be_software
+    rpi4-trixie:
+      extends: rpi4-trixie
+      sysroot: {dev_packages: *proj_packages_trixie}
+      backends: *backends_four
+
+    # -- Raspberry Pi Zero 2 W (Cortex-A53) — four backends -------------
+    rpi-zero-2w-bookworm:
+      extends: rpi-zero-2w-bookworm
+      sysroot: {dev_packages: *proj_packages_bookworm}
+      augment: *augment_bookworm
+      backends: *backends_four
+    rpi-zero-2w-trixie:
+      extends: rpi-zero-2w-trixie
+      sysroot: {dev_packages: *proj_packages_trixie}
+      backends: *backends_four
@@ -1,14 +1,19 @@
 ---
-# Cross-compiled PiOS (aarch64) artifacts via scripts/build_pi.sh.
+# Cross-compiled PiOS (aarch64) artifacts via emb + a prebuilt toolchain image.
 #
-# Runs on x86_64 GitHub runners on purpose: the pinned ARM toolchains link
-# against the matching PiOS glibc only when hosted on x86_64 (bookworm's
-# GCC 12 has no aarch64-hosted build, and the aarch64-hosted GCC 14/15 link
-# against glibc >= 2.38, which bookworm's 2.36 can't satisfy).
+# Two phases:
+#   publish-<os>  (per PiOS variant) — emb resolves the toolchain + sysroot and
+#                 publishes a content-addressed OCI image to GHCR. The emb cross
+#                 sandbox is cached, and `emb cross --publish` skips the build
+#                 when the image (keyed by the manifest's sysroot_key) already
+#                 exists, so this is a near-no-op once warm.
+#   build-...     (per board x os x backend) — runs INSIDE the published image,
+#                 where `emb cross --build -w /emb` is a pure cache hit on the
+#                 baked toolchain + sysroot. No per-run toolchain/sysroot fetch.
 #
-# A per-PiOS "prep" job warms the cache (toolchain + sysroot + engine, and
-# the from-source libdisplay-info on bookworm) once; the build matrix then
-# fans out per backend, restoring that cache and compiling a single backend.
+# Runs on x86_64 runners: the pinned ARM toolchains cross-compile aarch64 (no
+# emulation). Hardware facts live in emb's board library; this repo's
+# raspberry-pi.emb.yaml `extends` it with ivi-homescreen's backends + plugins.
 name: pios

 on:
@@ -23,28 +28,23 @@ concurrency:
  cancel-in-progress: true

 env:
-  # Everything build_pi.sh downloads/derives lives here so one cache covers
-  # toolchain, sysroot, engine SDK, and the local libdisplay-info build.
-  IVI_XC_ROOT: ${{ github.workspace }}/.ivi-xc
+  EMB_REPO: https://github.com/toyota-connected/emb_cli.git
+  IMAGE: ghcr.io/${{ github.repository_owner }}/emb-cross-aarch64-none-linux-gnu
+  # emb cross sandbox (toolchain + sysroot) for the publish phase — cached.
+  EMB_WS: ${{ github.workspace }}/.emb-ws

 jobs:
-  prep:
+  publish:
    if: ${{ github.server_url == 'https://github.com' }}
    runs-on: ubuntu-24.04
    permissions:
      contents: read
+      packages: write
    strategy:
      fail-fast: false
      matrix:
-        include:
-          - pios: trixie
-            args: ""
-          - pios: bookworm
-            # bookworm ships an older libdisplay-info (0.1.1) and Vulkan SDK
-            # (VK_HEADER_VERSION 239); cross-build/overlay newer ones so
-            # drm-kms-egl and wayland-vulkan both build.
-            args: "--with-local-display-info --with-local-vulkan-headers"
-    name: prep-${{ matrix.pios }}
+        pios: [bookworm, trixie]
+    name: publish-${{ matrix.pios }}
    steps:
      - name: Checkout ivi-homescreen
        uses: actions/checkout@v5
@@ -52,56 +52,65 @@ jobs:
          path: ivi-homescreen
          submodules: recursive

-      - name: Checkout ivi-homescreen-plugins (sibling)
-        uses: actions/checkout@v5
-        with:
-          repository: toyota-connected/ivi-homescreen-plugins
-          path: ivi-homescreen-plugins
-          submodules: recursive
-
-      - name: Install host build tools
+      - name: Install emb resolve host tools
        run: |
          sudo apt-get update
-          sudo apt-get -y install --no-install-recommends \
-            curl xz-utils tar fdisk rsync cmake pkg-config \
-            qemu-user-static meson ninja-build libwayland-bin
+          sudo apt-get install -y --no-install-recommends \
+            tar xz-utils rsync curl ca-certificates

-      - name: Cache cross sandbox (toolchain + sysroot + engine)
+      - name: Fetch emb
+        run: git clone --depth 1 "$EMB_REPO" emb_cli
+
+      - name: Cache cross sandbox (toolchain + sysroot)
        uses: actions/cache@v5
        with:
-          path: ${{ env.IVI_XC_ROOT }}
-          key: xc-${{ matrix.pios }}-${{ hashFiles('ivi-homescreen/scripts/build_pi.sh') }}
+          path: ${{ env.EMB_WS }}
+          key: emb-xc-${{ matrix.pios }}-${{ hashFiles('ivi-homescreen/.emb/base.emb.yaml', 'ivi-homescreen/.emb/raspberry-pi.emb.yaml', 'emb_cli/boards/raspberry-pi.emb.yaml') }}
          restore-keys: |
-            xc-${{ matrix.pios }}-
+            emb-xc-${{ matrix.pios }}-

-      - name: Prepare (fetch toolchain, sysroot, engine; build libdisplay-info)
+      - name: Log in to GHCR
+        run: |
+          echo "${{ secrets.GITHUB_TOKEN }}" \
+            | docker login ghcr.io -u "${{ github.actor }}" --password-stdin
+
+      # rpi5-<os> is the canonical publish target: the sysroot (and thus the
+      # image) is model-independent, so one image per OS serves rpi4/zero-2w
+      # too. --tag <os> is the stable alias the build matrix consumes; the
+      # immutable sysroot_key tag is always pushed + skip-checked.
+      - name: Publish toolchain image (${{ matrix.pios }})
        working-directory: ivi-homescreen
        run: |
-          ./scripts/build_pi.sh --pios ${{ matrix.pios }} \
-            --backend all ${{ matrix.args }} --prepare-only
+          eval "$(../emb_cli/bootstrap.sh --shellenv)"
+          emb --version
+          emb cross . \
+            --target "rpi5-${{ matrix.pios }}" \
+            --publish --image "$IMAGE" --tag "${{ matrix.pios }}" \
+            -w "$EMB_WS"

  build:
-    needs: prep
+    needs: publish
    if: ${{ github.server_url == 'https://github.com' }}
    runs-on: ubuntu-24.04
    permissions:
      contents: read
+      packages: read
+    container:
+      image: ghcr.io/${{ github.repository_owner }}/emb-cross-aarch64-none-linux-gnu:${{ matrix.pios }}
+      credentials:
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
    strategy:
      fail-fast: false
      matrix:
-        include:
-          # trixie ships libdisplay-info >= 0.2.0, so all four backends build
-          # without the local libdisplay-info workaround.
-          - { pios: trixie, backend: wayland-egl,    args: "" }
-          - { pios: trixie, backend: wayland-vulkan, args: "" }
-          - { pios: trixie, backend: drm-kms-egl,    args: "" }
-          - { pios: trixie, backend: software,       args: "" }
-          # bookworm: drm-kms-egl needs the locally-built libdisplay-info.
-          - { pios: bookworm, backend: wayland-egl,    args: "" }
-          - { pios: bookworm, backend: wayland-vulkan, args: "--with-local-vulkan-headers" }
-          - { pios: bookworm, backend: drm-kms-egl,    args: "--with-local-display-info" }
-          - { pios: bookworm, backend: software,       args: "" }
-    name: build-${{ matrix.pios }}-${{ matrix.backend }}
+        pios: [bookworm, trixie]
+        board: [rpi5, rpi4, rpi-zero-2w]
+        backend: [wayland-egl, wayland-vulkan, drm-kms-egl, drm-kms-vulkan, software]
+        # drm-kms-vulkan is rpi5-only.
+        exclude:
+          - { board: rpi4, backend: drm-kms-vulkan }
+          - { board: rpi-zero-2w, backend: drm-kms-vulkan }
+    name: build-${{ matrix.board }}-${{ matrix.pios }}-${{ matrix.backend }}
    steps:
      - name: Checkout ivi-homescreen
        uses: actions/checkout@v5
@@ -116,30 +125,40 @@ jobs:
          path: ivi-homescreen-plugins
          submodules: recursive

-      - name: Install host build tools
-        run: |
-          sudo apt-get update
-          sudo apt-get -y install --no-install-recommends \
-            curl xz-utils tar fdisk rsync cmake pkg-config \
-            qemu-user-static meson ninja-build libwayland-bin
+      - name: Fetch emb
+        run: git clone --depth 1 "$EMB_REPO" emb_cli

-      - name: Restore cross sandbox
-        uses: actions/cache@v5
-        with:
-          path: ${{ env.IVI_XC_ROOT }}
-          key: xc-${{ matrix.pios }}-${{ hashFiles('ivi-homescreen/scripts/build_pi.sh') }}
-          restore-keys: |
-            xc-${{ matrix.pios }}-
-
-      - name: Build
+      # The image bakes the toolchain + sysroot at /emb, so -w /emb resolves as
+      # a pure cache hit (no download/extract). Host build tools (cmake, ninja,
+      # meson, wayland-scanner) are baked too; only the augment libs rebuild.
+      - name: Build ${{ matrix.backend }}
        working-directory: ivi-homescreen
+        # Container jobs default to dash (sh); pipefail/SECONDS need bash.
+        shell: bash
        run: |
-          ./scripts/build_pi.sh --pios ${{ matrix.pios }} \
-            --backend ${{ matrix.backend }} ${{ matrix.args }}
+          set -o pipefail
+          eval "$(../emb_cli/bootstrap.sh --shellenv)"
+          emb --version
+          start=$SECONDS
+          emb cross . \
+            --target "${{ matrix.board }}-${{ matrix.pios }}" \
+            --build --backend "${{ matrix.backend }}" \
+            --no-verify -w /emb | tee /tmp/emb-build.log
+          dur=$(( SECONDS - start ))
+          # Per-job timing summary: the cache-hit consume should resolve in
+          # seconds (no toolchain/sysroot fetch). emb prints resolve/augment/
+          # build phase times; capture them plus the wall-clock total.
+          {
+            echo "### ${{ matrix.board }}-${{ matrix.pios }} · ${{ matrix.backend }}"
+            echo ""
+            echo "- total: ${dur}s (cache-hit consume — no toolchain/sysroot fetch)"
+            grep -aE "Resolved|augment +:|build +:" /tmp/emb-build.log \
+              | sed -E 's/^[[:space:]]*[^A-Za-z]*/- /' || true
+          } >> "$GITHUB_STEP_SUMMARY"

      - name: Upload homescreen binary
        uses: actions/upload-artifact@v7
        with:
-          name: homescreen-${{ matrix.pios }}-${{ matrix.backend }}
-          path: ivi-homescreen/cmake-build-xc-pi-${{ matrix.pios }}-${{ matrix.backend }}/shell/homescreen
+          name: homescreen-${{ matrix.board }}-${{ matrix.pios }}-${{ matrix.backend }}
+          path: /emb/.config/flutter_workspace/cross-build-*/build-${{ matrix.backend }}/shell/homescreen
          if-no-files-found: error