HULKs · schmidma · Dec 16, 2024 · Dec 17, 2024 · Dec 15, 2024 · Dec 16, 2024
diff --git a/kas/base.yml b/kas/base.yml
@@ -8,17 +8,17 @@ target: nao-image
 local_conf_header:
   meta-nao: |
     CONF_VERSION = "2"
-    PACKAGE_CLASSES ?= "package_ipk"
     EXTRA_IMAGE_FEATURES += "allow-empty-password"
     CLANGSDK = "1"
+    ROOT_HOME = "/root"
 
 repos:
   meta-nao:
     layers:
       meta:
   poky:
     url: "https://git.yoctoproject.org/git/poky"
-    commit: ae6cebca5bac9521230c69fed23b375d0de7f5f6
+    commit: cc5e3503e4437358efa8c5675e02f5e19430c58f
     layers:
       meta:
       meta-poky:
@@ -27,28 +27,34 @@ repos:
       0003-specify-custom-dynamic-linker:
         repo: "meta-nao"
         path: "patches/0003-bindgen-clang-sysroot.patch"
-      0004-compress-sdk-with-zstd:
-        repo: "meta-nao"
-        path: "patches/0004-compress-sdk-with-zstd.patch"
   meta-congatec-x86:
     url: "https://git.congatec.com/x86/meta-congatec-x86.git"
     commit: 1867244888ed0a5ad85f5b4ab789e1d0201deb02
     patches:
-      0001-congatec-scarthgap-support:
+      0001-congatec-walnascar-support:
         repo: "meta-nao"
-        path: "patches/0001-congatec-scarthgap-support.patch"
+        path: "patches/0001-congatec-walnascar-support.patch"
       0002-congatec-new-override-syntax:
         repo: "meta-nao"
         path: "patches/0002-congatec-new-override-syntax.patch"
+      0004-congatec-no-s-workspace.patch:
+        repo: "meta-nao"
+        path: "patches/0004-congatec-no-s-workspace.patch"
+      0005-congatec-upstream-status.patch:
+        repo: "meta-nao"
+        path: "patches/0005-congatec-upstream-status.patch"
   meta-clang:
     url: "https://github.com/kraj/meta-clang.git"
-    commit: e7dceb1c92caf7f21ef1d7b49c85328c30cffd90
+    commit: 147349b7334b8a25b96bb08c2361ae0ae95e7eb6
   meta-intel:
     url: "https://git.yoctoproject.org/git/meta-intel"
-    commit: c8cd0317ec19332bce86697f3413a82b9828b329
+    commit: d0150964ca7c6a83d38ba54cda3e19b34d274f80
+  meta-openvino:
+    url: "https://github.com/intel/meta-openvino"
+    commit: 65dfb4ff4a53b5164b1dfc396001767da00f27fd
   meta-openembedded:
     url: "https://git.openembedded.org/meta-openembedded"
-    commit: 4a7bb77f7ebe0ac8be5bab5103d8bd993e17e18d
+    commit: af28a667fb22d0023807e8c3319d0923bee39020
     layers:
       meta-oe:
       meta-multimedia:

diff --git a/meta-hulks/conf/distro/HULKs-OS.conf b/meta-hulks/conf/distro/HULKs-OS.conf
@@ -1,8 +1,8 @@
 require conf/distro/nao-core-minimal.conf
 
-SUMMARY = "HULKs flavoured Poky"
+SUMMARY = "HULKs flavoured Nao"
 
 DISTRO = "HULKs-OS"
 DISTRO_NAME = "HULKs-OS"
-DISTRO_VERSION = "7.5.8"
+DISTRO_VERSION = "7.6.0"
 SDKIMAGE_FEATURES:remove = "dbg-pkgs src-pkgs"
diff --git a/meta-hulks/conf/layer.conf b/meta-hulks/conf/layer.conf
@@ -5,7 +5,7 @@ BBPATH .= ":${LAYERDIR}"
 BBFILES += "${LAYERDIR}/recipes-*/*/*.bb \
 ${LAYERDIR}/recipes-*/*/*.bbappend"
 
-LAYERSERIES_COMPAT_hulks = "scarthgap"
+LAYERSERIES_COMPAT_hulks = "walnascar"
 
 BBFILE_COLLECTIONS += "hulks"
 BBFILE_PATTERN_hulks = "^${LAYERDIR}/"

diff --git a/meta-hulks/recipes-core/images/nao-image.bbappend b/meta-hulks/recipes-core/images/nao-image.bbappend
@@ -1,7 +1,5 @@
 FILESEXTRAPATHS:prepend := "${THISDIR}/${PN}:"
 
-SDK_ZSTD_COMPRESSION_LEVEL = "-9"
-
 CORE_IMAGE_EXTRA_INSTALL += "\
                              aliveness \
                              breeze \

diff --git a/meta-hulks/recipes-hulks/aliveness/aliveness.bb b/meta-hulks/recipes-hulks/aliveness/aliveness.bb
@@ -17,8 +17,8 @@ inherit systemd
 
 do_install:append () {
   install -d "${D}${systemd_unitdir}/system"
-  install -m 0644 "${WORKDIR}/aliveness.service" "${D}${systemd_unitdir}/system/"
-  install -m 0644 "${WORKDIR}/enp4s0-wait-online.service" "${D}${systemd_unitdir}/system/"
+  install -m 0644 "${UNPACKDIR}/aliveness.service" "${D}${systemd_unitdir}/system/"
+  install -m 0644 "${UNPACKDIR}/enp4s0-wait-online.service" "${D}${systemd_unitdir}/system/"
 }
 
 require aliveness-crates.inc
diff --git a/meta-hulks/recipes-hulks/breeze/breeze.bb b/meta-hulks/recipes-hulks/breeze/breeze.bb
@@ -30,7 +30,7 @@ inherit systemd
 export BINDGEN_EXTRA_CLANG_ARGS="-I ${STAGING_INCDIR}"
 do_install:append() {
   install -d ${D}${systemd_unitdir}/system/
-  install -m 0644 ${WORKDIR}/breeze.service ${D}${systemd_unitdir}/system/
+  install -m 0644 ${UNPACKDIR}/breeze.service ${D}${systemd_unitdir}/system/
 }
 
 require breeze-crates.inc
diff --git a/meta-hulks/recipes-hulks/hula/hula.bb b/meta-hulks/recipes-hulks/hula/hula.bb
@@ -31,9 +31,9 @@ inherit systemd
 
 do_install:append() {
   install -d ${D}${systemd_unitdir}/system/
-  install -m 0644 ${WORKDIR}/hula.service ${D}${systemd_unitdir}/system/
+  install -m 0644 ${UNPACKDIR}/hula.service ${D}${systemd_unitdir}/system/
   install -d ${D}${datadir}/dbus-1/system.d/
-  install -m 0644 ${WORKDIR}/org.hulks.hula.conf ${D}${datadir}/dbus-1/system.d/
+  install -m 0644 ${UNPACKDIR}/org.hulks.hula.conf ${D}${datadir}/dbus-1/system.d/
 }
 
 FILES:${PN} += "${datadir}/dbus-1/system.d/org.hulks.hula.conf"

diff --git a/meta-hulks/recipes-hulks/hulk/hulk.bb b/meta-hulks/recipes-hulks/hulk/hulk.bb
@@ -10,18 +10,21 @@ SRC_URI = "\
            file://hulk \
           "
 
+S = "${WORKDIR}/sources"
+UNPACKDIR = "${S}"
+
 SYSTEMD_SERVICE:${PN} = "hulk.service hulk-gdbserver.service"
 
 inherit systemd
 
 do_install() {
   install -d ${D}${bindir}
-  install -m 755 ${WORKDIR}/launchHULK ${D}${bindir}
-  install -m 755 ${WORKDIR}/hulk ${D}${bindir}
+  install -m 755 ${S}/launchHULK ${D}${bindir}
+  install -m 755 ${S}/hulk ${D}${bindir}
 
   install -d ${D}${systemd_unitdir}/system/
-  install -m 0644 ${WORKDIR}/hulk.service ${D}${systemd_unitdir}/system/
-  install -m 0644 ${WORKDIR}/hulk-gdbserver.service ${D}${systemd_unitdir}/system/
+  install -m 0644 ${S}/hulk.service ${D}${systemd_unitdir}/system/
+  install -m 0644 ${S}/hulk-gdbserver.service ${D}${systemd_unitdir}/system/
 }
 
 FILES:${PN} = " \

diff --git a/meta-hulks/recipes-hulks/network-config/network-config.bb b/meta-hulks/recipes-hulks/network-config/network-config.bb
@@ -14,16 +14,19 @@ SRC_URI = "\
            file://network-fallback-notification.service \
           "
 
+S = "${WORKDIR}/sources"
+UNPACKDIR = "${S}"
+
 do_install() {
     install -d ${D}${sbindir}/
-    install -m 0755 ${WORKDIR}/configure_network ${D}${sbindir}/
+    install -m 0755 ${S}/configure_network ${D}${sbindir}/
     install -d ${D}${systemd_unitdir}/system/
-    install -m 0644 ${WORKDIR}/network-config.service ${D}${systemd_unitdir}/system/
-    install -m 0644 ${WORKDIR}/network-fallback-notification.service ${D}${systemd_unitdir}/system/
+    install -m 0644 ${S}/network-config.service ${D}${systemd_unitdir}/system/
+    install -m 0644 ${S}/network-fallback-notification.service ${D}${systemd_unitdir}/system/
     install -d ${D}/var/lib/iwd/
-    install -m 0600 ${WORKDIR}/SPL_HULKs.psk ${D}/var/lib/iwd/
+    install -m 0600 ${S}/SPL_HULKs.psk ${D}/var/lib/iwd/
     install -d ${D}/${datadir}/network-config/
-    install -m 0600 ${WORKDIR}/fallback_notification.wav ${D}/${datadir}/network-config/
+    install -m 0600 ${S}/fallback_notification.wav ${D}/${datadir}/network-config/
 }
 
 FILES:${PN} = " \

diff --git a/meta/conf/distro/nao-core-minimal.conf b/meta/conf/distro/nao-core-minimal.conf
@@ -1,31 +1,35 @@
-require conf/distro/poky.conf
-
 SUMMARY = "A small image just capable of allowing a device to boot."
 
 DISTRO = "nao-core-minimal"
 DISTRO_NAME = "nao-core-minimal"
-DISTRO_VERSION = "2.0"
-SDK_NAME = "${DISTRO}-${SDKMACHINE}"
+DISTRO_VERSION = "3.0"
 TARGET_VENDOR = "-aldebaran"
+IMAGE_NAME = "${IMAGE_BASENAME}-${DISTRO}-${DISTRO_VERSION}${IMAGE_VERSION_SUFFIX}"
+IMAGE_LINK_NAME = "${IMAGE_BASENAME}-${DISTRO}-${DISTRO_VERSION}"
+SDK_NAME = "${DISTRO}-${SDKMACHINE}"
 SDK_VENDOR = "-naosdk"
+SDK_VERSION = "${DISTRO_VERSION}"
 SDK_ARCHIVE_TYPE = "tar.zst"
 MAINTAINER = "Team HULKs <[email protected]>"
 
-hostname:pn-base-files = "nao"
+# TODO: maybe: ipv6
+DISTRO_FEATURES ?= "alsa ext2 ipv4 usbgadget usbhost wifi xattr pci vfat pam polkit pulseaudio ldconfig"
+
+DISTRO_EXTRA_RDEPENDS += "packagegroup-core-boot"
 
 PREFERRED_PROVIDER_virtual/kernel = "linux-intel-rt"
+
 PREFERRED_PROVIDER_cgos-mod = "linux-intel-rt"
+KERNEL_MODULE_AUTOLOAD:append = " cgosdrv"
 
-IMAGE_NAME = "${IMAGE_BASENAME}-${DISTRO}-${DISTRO_VERSION}${IMAGE_VERSION_SUFFIX}"
-IMAGE_LINK_NAME = "${IMAGE_BASENAME}-${DISTRO}-${DISTRO_VERSION}"
+PACKAGE_CLASSES ?= "package_ipk"
 
-DISTRO_FEATURES:remove = "x11 wayland 3g nfs nfc opengl vulkan bluetooth pcmcia"
+require conf/distro/include/no-static-libs.inc
+require conf/distro/include/yocto-space-optimize.inc
 
-DISTRO_FEATURES:append = " pam polkit"
+BB_SIGNATURE_HANDLER ?= "OEEquivHash"
+BB_HASHSERVE ??= "auto"
 
-KERNEL_MODULE_AUTOLOAD:append = " cgosdrv"
+INIT_MANAGER = "systemd"
 
-DISTRO_FEATURES:append = " systemd usrmerge"
-VIRTUAL-RUNTIME_init_manager = "systemd"
-DISTRO_FEATURES_BACKFILL_CONSIDERED = "sysvinit"
-VIRTUAL-RUNTIME_initscripts = ""
+hostname:pn-base-files = "nao"
diff --git a/meta/conf/layer.conf b/meta/conf/layer.conf
@@ -5,7 +5,7 @@ BBPATH .= ":${LAYERDIR}"
 BBFILES += "${LAYERDIR}/recipes-*/*/*.bb \
 ${LAYERDIR}/recipes-*/*/*.bbappend"
 
-LAYERSERIES_COMPAT_nao = "scarthgap"
+LAYERSERIES_COMPAT_nao = "walnascar"
 
 BBFILE_COLLECTIONS += "nao"
 BBFILE_PATTERN_nao = "^${LAYERDIR}/"

diff --git a/meta/recipes-conf/nao-wifi-conf/nao-wifi-conf.bb b/meta/recipes-conf/nao-wifi-conf/nao-wifi-conf.bb
@@ -11,19 +11,23 @@ SRC_URI = "\
            file://SPL_E.psk \
            file://SPL_F.psk \
           "
+
+S = "${WORKDIR}/sources"
+UNPACKDIR = "${S}"
+
 RDEPENDS:${PN} = "iwd"
 
 do_install() {
     install -d ${D}${sysconfdir}/iwd/
-    install -m 0644 ${WORKDIR}/main.conf ${D}${sysconfdir}/iwd/
+    install -m 0644 ${S}/main.conf ${D}${sysconfdir}/iwd/
 
     install -d ${D}/var/lib/iwd/
-    install -m 0600 ${WORKDIR}/SPL_A.psk ${D}/var/lib/iwd/
-    install -m 0600 ${WORKDIR}/SPL_B.psk ${D}/var/lib/iwd/
-    install -m 0600 ${WORKDIR}/SPL_C.psk ${D}/var/lib/iwd/
-    install -m 0600 ${WORKDIR}/SPL_D.psk ${D}/var/lib/iwd/
-    install -m 0600 ${WORKDIR}/SPL_E.psk ${D}/var/lib/iwd/
-    install -m 0600 ${WORKDIR}/SPL_F.psk ${D}/var/lib/iwd/
+    install -m 0600 ${S}/SPL_A.psk ${D}/var/lib/iwd/
+    install -m 0600 ${S}/SPL_B.psk ${D}/var/lib/iwd/
+    install -m 0600 ${S}/SPL_C.psk ${D}/var/lib/iwd/
+    install -m 0600 ${S}/SPL_D.psk ${D}/var/lib/iwd/
+    install -m 0600 ${S}/SPL_E.psk ${D}/var/lib/iwd/
+    install -m 0600 ${S}/SPL_F.psk ${D}/var/lib/iwd/
 }
 
 FILES:${PN} = "\

diff --git a/meta/recipes-conf/user-home/nao-home.bb b/meta/recipes-conf/user-home/nao-home.bb
@@ -7,18 +7,21 @@ SRC_URI = "\
            file://nao.rules \
           "
 
+S = "${WORKDIR}/sources"
+UNPACKDIR = "${S}"
+
 RDEPENDS:${PN} += "polkit"
 
 inherit useradd
 
 do_install:append() {
   # Enable robocupper mode
   install -o nao -g nao -d ${D}/home/nao/
-  install -o nao -g nao -m 0644 ${WORKDIR}/robocup.conf ${D}/home/nao/
+  install -o nao -g nao -m 0644 ${S}/robocup.conf ${D}/home/nao/
 
   # Install nao rules for polkit
   install -d ${D}${datadir}/polkit-1/rules.d/
-  install ${WORKDIR}/nao.rules ${D}${datadir}/polkit-1/rules.d
+  install ${S}/nao.rules ${D}${datadir}/polkit-1/rules.d
 }
 
 USERADD_PACKAGES = "${PN}"

diff --git a/meta/recipes-core/base-files/base-files_%.bbappend b/meta/recipes-core/base-files/base-files_%.bbappend
@@ -7,5 +7,5 @@ do_install:append() {
   install -d ${D}/media/internal
 
   install -d ${D}${sysconfdir}/profile.d/
-  install -m 0644 ${WORKDIR}/sbin_path.sh ${D}${sysconfdir}/profile.d/
+  install -m 0644 ${UNPACKDIR}/sbin_path.sh ${D}${sysconfdir}/profile.d/
 }
diff --git a/...s-kernel/linux/linux-intel-rt/0001-NAO-adjustments-in-part-by-SoftBank-and-Congatec.patch b/...s-kernel/linux/linux-intel-rt/0001-NAO-adjustments-in-part-by-SoftBank-and-Congatec.patch
@@ -2,6 +2,7 @@ From 165a4bcc4c62e984fe0ae7213298140a55ef5b9b Mon Sep 17 00:00:00 2001
 From: Maximilian Schmidt <[email protected]>
 Date: Tue, 12 Mar 2024 10:54:44 +0000
 Subject: [PATCH] NAO adjustments (in part by SoftBank and Congatec)
+Upstream-Status: Pending
 
 ---
  arch/x86/mm/ioremap.c                         |    3 +-

diff --git a/meta/recipes-kernel/linux/linux-intel-rt/0002-CGOS-32-bit.patch b/meta/recipes-kernel/linux/linux-intel-rt/0002-CGOS-32-bit.patch
@@ -2,6 +2,7 @@ From 2a7f46283db624091165a0383882c44f578d645b Mon Sep 17 00:00:00 2001
 From: Kas User <[email protected]>
 Date: Tue, 15 Nov 2022 19:33:29 +0000
 Subject: [PATCH] CGOS 32-bit
+Upstream-Status: Pending
 
 ---
  drivers/cgosdrv/DrvLx.c | 63 ++++++++++++++++++++++++++++++++++-------

diff --git a/meta/recipes-kernel/linux/linux-intel-rt_%.bbappend b/meta/recipes-kernel/linux/linux-intel-rt_%.bbappend
@@ -13,7 +13,7 @@ RPROVIDES:${KERNEL_PACKAGE_NAME} += "cgos-mod"
 do_install:append() {
   ln -s bzImage-${KERNEL_VERSION_NAME} ${D}/boot/vmlinuz.efi
   ln -s vmlinuz.efi ${D}/boot/vmlinuz
-  install -m 0644 ${WORKDIR}/cmdline ${D}/boot/cmdline
+  install -m 0644 ${UNPACKDIR}/cmdline ${D}/boot/cmdline
 }
 
 FILES:${KERNEL_PACKAGE_NAME} += "\

diff --git a/meta/recipes-support/aldebaran/aldebaran-binaries.bb b/meta/recipes-support/aldebaran/aldebaran-binaries.bb
@@ -4,6 +4,9 @@ LIC_FILES_CHKSUM = "file://${COMMON_LICENSE_DIR}/GPL-3.0-only;md5=c79ff39f19dfec
 
 SRC_URI = "file://aldebaran_binaries.tar.gz;sha256sum=02848f1b604c3afc7d52b4f01bc83434250709c720f86619eeb39d0bf6701c27"
 
+S = "${WORKDIR}/sources"
+UNPACKDIR = "${S}"
+
 RDEPENDS:${PN} += "bash"
 
 INHIBIT_PACKAGE_STRIP = "1"
@@ -15,24 +18,24 @@ ALDEBARAN_LIB_DIR = "/opt/aldebaran/lib"
 
 do_install() {
   install -d ${D}/opt/aldebaran/share/firmware/
-  install -m 0644 ${WORKDIR}/aldebaran_files/opt/aldebaran/share/firmware/CX3RDK_OV5640_USB2.img ${D}/opt/aldebaran/share/firmware/
-  install -m 0644 ${WORKDIR}/aldebaran_files/opt/aldebaran/share/firmware/CX3RDK_OV5640_USB3.img ${D}/opt/aldebaran/share/firmware/
+  install -m 0644 ${S}/aldebaran_files/opt/aldebaran/share/firmware/CX3RDK_OV5640_USB2.img ${D}/opt/aldebaran/share/firmware/
+  install -m 0644 ${S}/aldebaran_files/opt/aldebaran/share/firmware/CX3RDK_OV5640_USB3.img ${D}/opt/aldebaran/share/firmware/
 
   install -d ${D}/${nonarch_base_libdir}/firmware
-  install ${WORKDIR}/aldebaran_files/lib/firmware/sbre-usb-i2c.dfuse ${D}/${nonarch_base_libdir}/firmware
+  install ${S}/aldebaran_files/lib/firmware/sbre-usb-i2c.dfuse ${D}/${nonarch_base_libdir}/firmware
 
   install -d ${D}/opt/aldebaran/etc/
-  install -D ${WORKDIR}/aldebaran_files/opt/aldebaran/etc/alfand.conf ${D}/opt/aldebaran/etc/
+  install -D ${S}/aldebaran_files/opt/aldebaran/etc/alfand.conf ${D}/opt/aldebaran/etc/
   install -d ${D}/opt/aldebaran/etc/hal
-  install -D ${WORKDIR}/aldebaran_files/opt/aldebaran/etc/hal/hal.xml ${D}/opt/aldebaran/etc/hal/
+  install -D ${S}/aldebaran_files/opt/aldebaran/etc/hal/hal.xml ${D}/opt/aldebaran/etc/hal/
   install -d ${D}/opt/aldebaran/share/lola
-  install -D ${WORKDIR}/aldebaran_files/opt/aldebaran/share/lola/nao_v6.xml ${D}/opt/aldebaran/share/lola/
+  install -D ${S}/aldebaran_files/opt/aldebaran/share/lola/nao_v6.xml ${D}/opt/aldebaran/share/lola/
 
   install -d ${D}/${ALDEBARAN_BIN_DIR}
-  install -D ${WORKDIR}/aldebaran_files/opt/aldebaran/bin/* ${D}/${ALDEBARAN_BIN_DIR}
+  install -D ${S}/aldebaran_files/opt/aldebaran/bin/* ${D}/${ALDEBARAN_BIN_DIR}
 
   install -d ${D}/${ALDEBARAN_LIB_DIR}
-  install -D ${WORKDIR}/aldebaran_files/opt/aldebaran/lib/* ${D}/${ALDEBARAN_LIB_DIR}
+  install -D ${S}/aldebaran_files/opt/aldebaran/lib/* ${D}/${ALDEBARAN_LIB_DIR}
 }
 
 do_package_qa[noexec] = "1"