Merge pull request #57 from ros-realtime/master-next

update to 24.04

.config-fragment

@@ -26,3 +26,5 @@ CONFIG_PERF_EVENTS=y
 CONFIG_DEBUG_INFO=n
 CONFIG_IKCONFIG=y
 CONFIG_IKCONFIG_PROC=y
+CONFIG_SYSTEM_TRUSTED_KEYS=""
+CONFIG_SYSTEM_REVOCATION_KEYS=""

.github/workflows/build-stable.yaml

@@ -4,19 +4,19 @@ on:
   workflow_dispatch:
     inputs:
       kernel_version:
-        description: 'Raspi kernel version, 5.4.0|5.15.0'
-        default: '5.15.0'
+        description: 'Raspi kernel version, 6.8.0'
+        default: '6.8.0'
         required: false
         type: string
       ubuntu_version:
-        description: 'Ubuntu version, focal|jammy'
-        default: 'jammy'
+        description: 'Ubuntu version, jammy|noble'
+        default: 'noble'
         required: false
         type: string
       uname_r:
-        description: 'raspi release in a form of <5.15.0-1012-raspi>'
+        description: 'raspi release in the form of <6.8.0-1005-raspi>'
         required: true
-        default: '5.15.0-1012-raspi'
+        default: '6.8.0-1005-raspi'
         type: string
       lttng_version:
         description: 'LTTNG version 2.13'

.github/workflows/rpi4-kernel-build.yml

@@ -1,9 +1,9 @@
-# This is a callable workflow for the RPI4 RT kernel build. It is based on the Dockerfile located in the repo
+# This is a callable workflow for the Raspberry Pi RT kernel build. It is based on the Dockerfile located in the repo
 # Workflow can be started from another workflow
-# The build takes 1.5 hours and artifacts are available under workflow artifacts
+# The build takes 2 hours and artifacts are available under workflow artifacts
 #  - kernel .deb packages
 # TODO:
-#  - create Docker image and push it to the packages
+#  - create a Docker image and push it to the packages
 
 name: 'RPI4 RT Kernel build'
 
@@ -53,10 +53,21 @@ jobs:
       # Checks-out repository under $GITHUB_WORKSPACE, so your job can access it
       - uses: actions/checkout@v3
 
-      - name: Get available space
-        run: |
-          cd /
-          df -H
+      - name: Free Disk Space
+        uses: jlumbroso/free-disk-space@main
+        with:
+          # this might remove tools that are actually needed,
+          # if set to "true" but frees about 6 GB
+          tool-cache: true
+
+          # all of these default to true, but feel free to set to
+          # "false" if necessary for your workflow
+          android: true
+          dotnet: true
+          haskell: true
+          large-packages: true
+          docker-images: false
+          swap-storage: true
 
       - name: Print input params
         run: |
@@ -85,7 +96,7 @@ jobs:
           image: rtwg-image:22.04
           options: -v ${{ github.workspace }}:/work
           run:  |
-            cd /home/user/linux_build/linux-raspi
+            cd /linux_build/linux-raspi
             make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- LOCALVERSION=-raspi -j `nproc` bindeb-pkg
             sudo cp ../*.deb /work
 

Dockerfile

@@ -1,42 +1,42 @@
-# A Dockerfile to build an RT kernel for the RPI4 based on Ubuntu 20.04 or 22.04 RPI4 kernel
+# A Dockerfile to build an RT kernel for the Raspberry Pi based on Ubuntu 24.04
 #
-# If run without parameters the Docker image is created to built RT_PREEMPT patched version of the latest 5.15 raspi kernel
+# If run without parameters the Docker image is created to built RT_PREEMPT patched version of the latest 6.8 raspi kernel
 # The Docker build command accepts the following build arguments:
 # $ docker build [--build-arg UBUNTU_VERSION=<ubuntu name>] [--build-arg KERNEL_VERSION=<kernel version>]
 #                [--build-arg UNAME_R=<raspi release>] [--build-arg RT_PATCH=<RT patch>]
 #                [--build-arg LTTNG_VERSION=<LTTNG version>] -t rtwg-image .
 #
 # where
-#   <ubuntu name> is jammy or focal, default is jammy
-#   <kernel version> is 5.4.0 or 5.15.0, default is 5.15.0
-#   <raspi release> is in a form of 5.15.0-1023-raspi, if not defined the lastest version is taken
+#   <ubuntu name> is noble, default is noble
+#   <kernel version> is in a form of 6.8.0, default is 6.8.0
+#   <raspi release> is in a form of 6.8.0-1005-raspi, if not defined the lastest version is taken
 #     see http://ports.ubuntu.com/pool/main/l/linux-raspi/
-#   <RT patch> is in a form of 5.15.76-rt53, if not defined the closest to the defined <raspi release> is taken
-#     see http://cdn.kernel.org/pub/linux/kernel/projects/rt/5.15/older
+#   <RT patch> is in a form of 6.8.2-rt11, if not defined the closest to the defined <raspi release> is taken
+#     see https://cdn.kernel.org/pub/linux/kernel/projects/rt/6.8/
 #   <LTTNG version> is 2.13, default is 2.13
 #
-# To build a Docker image for the latest 5.15 raspi kernel run
+# To build a Docker image for the latest raspi kernel, run
 # $ docker build -t rtwg-image .
 #
-# To build a Docker image for the latest 5.4 raspi kernel run
-# $ docker build --build-arg UBUNTU_VERSION=focal --build-arg KERNEL_VERSION=5.4.0 -t rtwg-image .
+# To build a Docker image for the stable raspi kernel, run
+# $ docker build --build-arg UBUNTU_VERSION=noble --build-arg KERNEL_VERSION=6.8.0 --build-arg UNAME_R=6.8.0-1005-raspi -t rtwg-image .
 #
 # After that the Docker image is prepared and ready to run
 # $ docker run -it rtwg-image bash
 #
 # and then inside the docker
-# $ cd $HOME/linux_build/linux-raspi
+# $ cd /linux_build/linux-raspi
 # $ make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- LOCALVERSION=-raspi -j `nproc` bindeb-pkg
 #
-# user ~/linux_build/linux-raspi $ ls -la ../*.deb
-# -rw-r--r-- 1 user user   8123580 Jan 16 16:34 ../linux-headers-5.15.74-rt53-raspi_5.15.74-rt53-raspi-1_arm64.deb
-# -rw-r--r-- 1 user user  58802024 Jan 16 16:34 ../linux-image-5.15.74-rt53-raspi_5.15.74-rt53-raspi-1_arm64.deb
-# -rw-r--r-- 1 user user   1185420 Jan 16 16:34 ../linux-libc-dev_5.15.74-rt53-raspi-1_arm64.deb
+# user /linux_build/linux-raspi $ ls -la ../*.deb
+# -rw-r--r-- 1 user user   9355162 Jul  1 16:44 ../linux-headers-6.8.4-rt11-raspi_6.8.4-g75867ff0890f-4_arm64.deb
+# -rw-r--r-- 1 user user  70457678 Jul  1 16:44 ../linux-image-6.8.4-rt11-raspi_6.8.4-g75867ff0890f-4_arm64.deb
+# -rw-r--r-- 1 user user   1377154 Jul  1 16:44 ../linux-libc-dev_6.8.4-g75867ff0890f-4_arm64.deb
 #
-# copy deb packages to the host, or directly to the RPI4 target
+# copy deb packages to the host, or directly to the Raspberry Pi target
 # $ scp ../*.deb <user>@172.17.0.1:/home/<user>/.
 
-FROM ubuntu:focal
+FROM ubuntu:noble
 
 USER root
 ARG DEBIAN_FRONTEND=noninteractive
@@ -51,8 +51,8 @@ ARG ARCH=arm64
 ARG UNAME_R
 ARG RT_PATCH
 ARG triple=aarch64-linux-gnu
-ARG KERNEL_VERSION=5.15.0
-ARG UBUNTU_VERSION=jammy
+ARG KERNEL_VERSION=6.8.0
+ARG UBUNTU_VERSION=noble
 ARG LTTNG_VERSION=2.13
 ARG KERNEL_DIR=linux-raspi
 
@@ -61,13 +61,18 @@ RUN apt-get update && apt-get install -q -y \
     gcc-${triple} \
     && dpkg --add-architecture ${ARCH} \
     && sed -i 's/deb h/deb [arch=amd64] h/g' /etc/apt/sources.list \
-    && add-apt-repository -n -s "deb [arch=$ARCH] http://ports.ubuntu.com/ubuntu-ports/ $(lsb_release -s -c) main universe restricted" \
-    && add-apt-repository -n -s "deb [arch=$ARCH] http://ports.ubuntu.com/ubuntu-ports $(lsb_release -s -c)-updates main universe restricted" \
+    && sed -i 's/deb h/deb [arch=amd64] h/g' /etc/apt/sources.list.d/* \
+    && sed -i '/Components/a\Architectures: amd64' /etc/apt/sources.list.d/*.sources \
+    && echo "deb [arch=$ARCH] http://ports.ubuntu.com/ubuntu-ports/ $(lsb_release -s -c) main universe restricted" >> /etc/apt/sources.list.d/ubuntu-ports.list \
+    && echo "deb-src [arch=$ARCH] http://ports.ubuntu.com/ubuntu-ports/ $(lsb_release -s -c) main universe restricted" >> /etc/apt/sources.list.d/ubuntu-ports.list \
+    && echo "deb [arch=$ARCH] http://ports.ubuntu.com/ubuntu-ports $(lsb_release -s -c)-updates main universe restricted" >> /etc/apt/sources.list.d/ubuntu-ports.list \
     && rm -rf /var/lib/apt/lists/*
 
 # setup environment
-ENV LANG C.UTF-8
-ENV LC_ALL C.UTF-8
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
+ENV UID=1000
+ENV GID=1000
 
 # install build deps
 RUN apt-get update && apt-get build-dep -q -y linux \
@@ -76,56 +81,67 @@ RUN apt-get update && apt-get build-dep -q -y linux \
     fakeroot \
     && rm -rf /var/lib/apt/lists/*
 
+# remove ubuntu user to set our own
+RUN userdel -r ubuntu
+
 # setup user
 RUN apt-get update && apt-get install -q -y sudo \
-    && useradd -m -d /home/user -s /bin/bash user \
+    && groupadd -g $GID user \
+    && useradd -m -d /home/user -s /bin/bash -u $UID -g $GID user \
     && gpasswd -a user sudo \
     && echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers \
     && echo 'user\nuser\n' | passwd user \
     && rm -rf /var/lib/apt/lists/*
 
 # install extra packages needed for the patch handling
-RUN apt-get update && apt-get install -q -y wget curl gzip git time \
+RUN apt-get update && apt-get install -q -y wget curl gzip git bash-completion time \
     && rm -rf /var/lib/apt/lists/*
 
+# install lttng dependencies
+RUN sudo apt-get update \
+    && sudo apt-get install -y libuuid1 libpopt0 libxml2 numactl
+
+# Create a directory and set permissions
+RUN mkdir -p /linux_build && chown user:user /linux_build
+
+# Define the volume
+VOLUME /linux_build
+
 USER user
 
 # find the latest UNAME_R and store it locally for the later usage
 # if $UNAME_R is set via --build-arg, take it
 RUN if test -z $UNAME_R; then UNAME_R=`curl -s http://ports.ubuntu.com/pool/main/l/linux-raspi/ | grep linux-buildinfo | grep -o -P '(?<=<a href=").*(?=">l)' | grep ${ARCH} | grep ${KERNEL_VERSION} | sort | tail -n 1 | cut -d '-' -f 3-4`-raspi; fi \
     && echo $UNAME_R > /home/user/uname_r
 
+# Set the working directory
+WORKDIR /linux_build
+
 # install linux sources from git
-RUN mkdir /home/user/linux_build \
-    && cd /home/user/linux_build \
-    && git config --global https.postBuffer 1048576000 \
-    && time git clone -b master --depth 1 --single-branch https://git.launchpad.net/~ubuntu-kernel/ubuntu/+source/linux-raspi/+git/${UBUNTU_VERSION} ${KERNEL_DIR} \
+RUN git config --global https.postBuffer 1048576000 \
+    && git clone -b master --depth 1 --single-branch --jobs=$(($(nproc) * 2)) --progress https://git.launchpad.net/~ubuntu-kernel/ubuntu/+source/linux-raspi/+git/${UBUNTU_VERSION} ${KERNEL_DIR} \
     && cd ${KERNEL_DIR} \
     && git fetch --tag
 
 # checkout necessary tag
-RUN cd /home/user/linux_build/${KERNEL_DIR} \
-    && git tag -l *`cat /home/user/uname_r | cut -d '-' -f 2`* | sort -V | tail -1 > /home/user/linux_build/tag \
-    && git checkout `cat /home/user/linux_build/tag`
+RUN cd /linux_build/${KERNEL_DIR} \
+    && git tag -l *`cat /home/user/uname_r | cut -d '-' -f 2`* | sort -V | tail -1 > /linux_build/tag \
+    && git checkout `cat /linux_build/tag`
 
 # install buildinfo to retieve `raspi` kernel config
 RUN cd /home/user \
-    && wget http://ports.ubuntu.com/pool/main/l/linux-raspi/linux-buildinfo-${KERNEL_VERSION}-`cat /home/user/uname_r | cut -d '-' -f 2`-raspi_${KERNEL_VERSION}-`cat /home/user/linux_build/tag | cut -d '-' -f 4`_${ARCH}.deb \
+    && wget http://ports.ubuntu.com/pool/main/l/linux-raspi/linux-buildinfo-${KERNEL_VERSION}-`cat /home/user/uname_r | cut -d '-' -f 2`-raspi_${KERNEL_VERSION}-`cat /linux_build/tag | cut -d '-' -f 4`_${ARCH}.deb \
     && dpkg -X *.deb /home/user/
 
-# install lttng dependencies
-RUN sudo apt-get update \
-    && sudo apt-get install -y libuuid1 libpopt0 liburcu6 libxml2 numactl
-
 COPY ./getpatch.sh /home/user/
 
 # get the nearest RT patch to the kernel SUBLEVEL
 # if $RT_PATCH is set via --build-arg, take it
-RUN cd /home/user/linux_build/${KERNEL_DIR} \
+RUN cd /linux_build/${KERNEL_DIR} \
     && if test -z $RT_PATCH; then /home/user/getpatch.sh `make kernelversion` > /home/user/rt_patch; else echo $RT_PATCH > /home/user/rt_patch; fi
 
 # download and unzip RT patch
-RUN cd /home/user/linux_build \
+RUN cd /linux_build \
     && wget http://cdn.kernel.org/pub/linux/kernel/projects/rt/`echo ${KERNEL_VERSION} | cut -d '.' -f 1-2`/older/patch-`cat /home/user/rt_patch`.patch.gz \
     && gunzip patch-`cat /home/user/rt_patch`.patch.gz
 
@@ -138,25 +154,25 @@ RUN cd /home/user/ \
 # run lttng built-in script to configure RT kernel
 RUN set -x \
     && cd `ls -d /home/user/lttng-modules-*` \
-    && ./scripts/built-in.sh ${HOME}/linux_build/${KERNEL_DIR}
+    && ./scripts/built-in.sh /linux_build/${KERNEL_DIR}
 
 # patch kernel, do not fail if some patches are skipped
-RUN cd /home/user/linux_build/${KERNEL_DIR} \
+RUN cd /linux_build/${KERNEL_DIR} \
     && OUT="$(patch -p1 --forward < ../patch-`cat $HOME/rt_patch`.patch)" || echo "${OUT}" | grep "Skipping patch" -q || (echo "$OUT" && false);
 
 # setup build environment
-RUN cd /home/user/linux_build/${KERNEL_DIR} \
+RUN cd /linux_build/${KERNEL_DIR} \
     && export $(dpkg-architecture -a${ARCH}) \
     && export CROSS_COMPILE=${triple}- \
     && fakeroot debian/rules clean \
     && LANG=C fakeroot debian/rules printenv
 
-COPY ./.config-fragment /home/user/linux_build/.
+COPY ./.config-fragment /linux_build/.
 
 # config RT kernel and merge config fragment
-RUN cd /home/user/linux_build/${KERNEL_DIR} \
+RUN cd /linux_build/${KERNEL_DIR} \
     && cp /home/user/usr/lib/linux/`cat /home/user/uname_r`/config .config \
-    && ARCH=${ARCH} CROSS_COMPILE=${triple}- ./scripts/kconfig/merge_config.sh .config $HOME/linux_build/.config-fragment
+    && ARCH=${ARCH} CROSS_COMPILE=${triple}- ./scripts/kconfig/merge_config.sh .config /linux_build/.config-fragment
 
-RUN cd /home/user/linux_build/${KERNEL_DIR} \
+RUN cd /linux_build/${KERNEL_DIR} \
     && fakeroot debian/rules clean