Support cross compilation runtime targets with unique base image

.devcontainer/devcontainer.json

@@ -3,7 +3,14 @@
     "name": "epics-containers IOC devcontainer",
     "build": {
         "dockerfile": "../Dockerfile",
-        "target": "developer"
+        "target": "developer",
+        "args": {
+            // Native target development settings ==============================
+            "TARGET_ARCHITECTURE": "linux-x86_64"
+            // Local cross compilation settings ================================
+            // "TARGET_ARCHITECTURE": "RTEMS-beatnik",
+            // "RUNTIME": "ghcr.io/epics-containers/rtems-proxy"
+        }
     },
     "remoteEnv": {
         // allows X11 apps to run inside the container

.github/workflows/build.yml

@@ -17,24 +17,25 @@ jobs:
         epics-target: [RTEMS-beatnik, linux-x86_64] # , linux-aarch64]
         target: [developer, runtime]
         include:
+          - os: ubuntu-latest # everyone is on os-latest
+
           - epics-target: RTEMS-beatnik
             epics-host: linux-x86_64
             extension: -rtems-beatnik
             platform: linux/amd64
-            os: ubuntu-latest
+            runtime: "RUNTIME=ghcr.io/epics-containers/rtems-proxy:0.1.6"
 
           - epics-target: linux-x86_64
             epics-host: linux-x86_64
             extension: ""
             platform: linux/amd64
-            os: ubuntu-latest
+            runtime: ""
 
           # - epics-target: linux-aarch64
           #   epics-host: linux-aarch64
           #   # a temporary name until multi-arch is supported
           #   extension: -native-aarch64
           #   platform: linux/arm64
-          #   os: ubuntu-latest
 
     runs-on: ${{ matrix.os }}
     env:
@@ -68,14 +69,15 @@ jobs:
             TARGET_ARCHITECTURE=${{ matrix.epics-target }}
             EPICS_HOST_ARCH=${{ matrix.epics-host }}
             IMAGE_EXT=${{ matrix.extension }}
+            ${{ matrix.runtime }}
           tags: ${{ env.TAG }}
-          cache-from: type=gha,scope=${{ matrix.epics-target }}
-          cache-to: type=gha,mode=max,scope=${{ matrix.epics-target }}
+          cache-from: type=gha,scope=${{ matrix.epics-target }}-${{ matrix.target }}
+          cache-to: type=gha,mode=max,scope=${{ matrix.epics-target }}-${{ matrix.target }}
           load: true
 
       - name: Test image
-        # can't test rtems without some hardware to run on
-        if: contains(${{ matrix.epics-target }}, "RTEMS")
+        # can't test non native without some hardware to run on
+        if: ${{ matrix.runtime == '' }}
         run: tests/run-tests.sh
 
       - name: Push image
@@ -89,6 +91,7 @@ jobs:
             TARGET_ARCHITECTURE=${{ matrix.epics-target }}
             EPICS_HOST_ARCH=${{ matrix.epics-host }}
             IMAGE_EXT=${{ matrix.extension }}
+            ${{ matrix.runtime }}
           tags: ${{ env.TAG }}
           push: true
 

.vscode/launch.json

@@ -0,0 +1,49 @@
+// Generic IOC debugging launcher
+// To use this l
+// 1. make sure you have gdb installed in your container with
+//    apt update; apt-get install gdb
+// 2. run the IOC once to make sure rutime assets are generated:
+//    cd /epics/ioc; make
+//    ./start.sh
+// 3. stop the IOC with 'exit'
+// 4. In vscode go to the support source in /epics/support/xxx
+// 5. Set any breakpoints in the source code that you require.
+// 6. You may want to set 'HOST_OPT=NO' in CONFIG_SITE and rebuild the support
+// 6. Go to the debug tab and select 'IOC devcontainer debug' from the
+//    RUN AND DEBUG dropdown
+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "IOC devcontainer debug",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "/epics/ioc/bin/linux-x86_64/ioc",
+            "args": [
+                "/epics/runtime/st.cmd"
+            ],
+            "stopAtEntry": false,
+            "cwd": "/epics/ioc",
+            "environment": [
+                {
+                    "name": "RUNTIME_DIR",
+                    "value": "/epics/runtime"
+                }
+            ],
+            "externalConsole": false,
+            "MIMode": "gdb",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                },
+                {
+                    "description": "Set Disassembly Flavor to Intel",
+                    "text": "-gdb-set disassembly-flavor intel",
+                    "ignoreFailures": true
+                }
+            ]
+        }
+    ]
+}

Dockerfile

@@ -1,12 +1,12 @@
-##### build stage ##############################################################
-
 ARG TARGET_ARCHITECTURE=linux-x86_64
 ARG EPICS_HOST_ARCH=linux-x86_64
 ARG IMAGE_EXT
 
 ARG BASE=7.0.8ec2b1
 ARG REGISTRY=ghcr.io/epics-containers
+ARG RUNTIME=${REGISTRY}/epics-base${IMAGE_EXT}-runtime:${BASE}
 
+##### build stage ##############################################################
 FROM  ${REGISTRY}/epics-base${IMAGE_EXT}-developer:${BASE} AS developer
 
 # The devcontainer mounts the project root to /epics/generic-source
@@ -56,22 +56,19 @@ COPY ioc ${SOURCE_FOLDER}/ioc
 RUN cd ${IOC} && ./install.sh && make
 
 ##### runtime preparation stage ################################################
-
 FROM developer AS runtime_prep
 
 # get the products from the build stage and reduce to runtime assets only
 RUN ibek ioc extract-runtime-assets /assets ${SOURCE_FOLDER}/ibek*
 
 ##### runtime stage ############################################################
-
-FROM ${REGISTRY}/epics-base${IMAGE_EXT}-runtime:${BASE} AS runtime
+FROM ${RUNTIME} AS runtime
 
 # get runtime assets from the preparation stage
 COPY --from=runtime_prep /assets /
 
 # install runtime system dependencies, collected from install.sh scripts
 RUN ibek support apt-install --runtime
 
-ENV TARGET_ARCHITECTURE ${IMAGE_NAME}
+ENTRYPOINT ["bash", "-c", "${IOC}/start.sh"]
 
-ENTRYPOINT ["/bin/bash", "-c", "${IOC}/start.sh"]

build

@@ -4,18 +4,21 @@
 # generic local build script for epics-containers repositories                 #
 ################################################################################
 
-# log commands and stop on errors
-set -xe
+set -e
 
 # set TARGET_ARCHITECTURE to rtems for RTEMS based targets
 T_A=${TARGET_ARCHITECTURE:-linux_x86_64}
 # set TARGET to runtime for runtime images
 TARGET=${TARGET:-developer}
 # set TAG to override the default tag
 TAG=${TAG:-ec_test}
+
 if [[ ${T_A} != "linux_x86_64" ]]; then
     # container image extension is the lcase of TARGET_ARCHITECTURE
     IMAGE_EXT=-"${T_A,,}"
+    if [ "$T_A" = "RTEMS-beatnik" ]; then
+        runtime="--build-arg RUNTIME=ghcr.io/epics-containers/rtems-proxy"
+    fi
 fi
 
 cd $(dirname ${0})
@@ -28,7 +31,8 @@ if $docker buildx version &>/dev/null; then builx=buildx; load=--load; fi
 if [ ! -d ibek-support ] ; then git submodule update --init ; fi
 
 # build and developer images
-$docker build $buildx -t ${TAG} "${@}"  $load \
+set -x
+$docker build $buildx -t ${TAG} "${@}" $load \
     --build-arg TARGET_ARCHITECTURE=$T_A \
     --build-arg IMAGE_EXT=$IMAGE_EXT \
-    --target $TARGET .
+    $runtime --target $TARGET .

ioc/install.sh

@@ -5,7 +5,7 @@
 x86_cfg='./configure/CONFIG_SITE.Common.linux-x86_64'
 
 # for RTEMS builds don't build for the host architecture, target only
-if [[ $TARGET_ARCHITECTURE == "rtems" ]]; then
+if [[ $TARGET_ARCHITECTURE == "RTEMS"* ]]; then
     touch ${x86_cfg}
     sed -i '/VALID_BUILDS/d' ${x86_cfg}
     echo "VALID_BUILDS=Host" >> ${x86_cfg}

ioc/start.sh

@@ -57,7 +57,6 @@ description='
  4. empty config folder *******************************************************
     If the config folder is empty this message will be displayed.
 
-
  RTEMS IOCS - RTEMS IOC startup files can be generated using any of the above.
 
  For RTEMS we do not execute the ioc inside of the pod. Instead we:
@@ -74,7 +73,7 @@ function ibek_error {
     echo "${1}"
 
     # Wait for a bit so the container does not exit and restart continually
-    sleep 10
+    sleep 120
 }
 
 # environment setup ************************************************************
@@ -156,12 +155,17 @@ fi
 
 # Launch the IOC ***************************************************************
 
-if [[ ${TARGET_ARCHITECTURE} == "rtems" ]] ; then
-    echo "RTEMS IOC startup - copying IOC to RTEMS mount point ..."
-    cp -r ${IOC} ${K8S_IOC_ROOT}
-    sleep 100
-else
+if [[ ${TARGET_ARCHITECTURE} == "linux-x86_64" ]] ; then
     # Execute the IOC binary and pass the startup script as an argument
     exec ${IOC}/bin/linux-x86_64/ioc ${final_ioc_startup}
+else
+    # not native architectures will have a proxy-start.sh in the root
+    if [[ -f ${CONFIG_DIR}/proxy-start.sh ]]; then
+        # instances can provide their own proxy-start ovedrride in config
+        bash ${CONFIG_DIR}/proxy-start.sh
+    fi
+    # the proxy container will provide a default proxy-start.sh in the root
+    bash /proxy-start.sh
 fi
 
+

requirements.txt

@@ -1,3 +1,3 @@
-ibek==1.7.0
+ibek==1.7.2b6
 # to install direct from github during development in a branch
 # git+https://github.com/epics-containers/ibek.git@fix-extract-assets

services/bl01t-mo-ioc-01/config/ioc.yaml

@@ -0,0 +1,71 @@
+# yaml-language-server: $schema=https://github.com/epics-containers/ioc-pmac/releases/download/2024.1.2/ibek.ioc.schema.json
+ioc_name: bl01t-mo-ioc-01
+
+description: |
+  Test IOC instance for pmac generic IOC.
+  Connects to the test pmac clipper under giles' desk
+
+entities:
+  - type: epics.EpicsEnvSet
+    name: EPICS_TZ
+    value: "GMT0BST"
+
+  - type: devIocStats.iocAdminSoft
+    IOC: "{{ ioc_name | upper }}"
+
+  - type: pmac.pmacAsynIPPort
+    IP: 172.23.240.97:1025
+    name: BRICK1port
+
+  - type: pmac.GeoBrick
+    IdlePoll: 1000
+    NAXES: 4
+    P: BL47P-MO-BRICK-01
+    name: BRICK1
+    pmacAsynPort: BRICK1port
+
+  - type: pmac.dls_pmac_asyn_motor
+    is_cs: false
+    ACCL: 0.1
+    ADDR: 1
+    Controller: BRICK1
+    DESC: Motor 1
+    DHLM: 25
+    DLLM: -25
+    EGU: mm
+    M: :MOTOR1
+    MRES: -0.01
+    P: BL01T-MO-BRICK-01
+    VELO: 4
+
+  - type: pmac.dls_pmac_asyn_motor
+    is_cs: false
+    ACCL: 0.1
+    ADDR: 2
+    Controller: BRICK1
+    DESC: Motor 1
+    DHLM: 25
+    DLLM: -25
+    EGU: mm
+    M: :MOTOR2
+    MRES: -0.01
+    P: BL01T-MO-BRICK-01
+    VELO: 4
+
+  # test clipper has 3 coordinate systems configured and pmac will segfault at
+  # present if these are not configured.
+  - type: pmac.CS
+    CS: 1
+    IdlePoll: 1000
+    PmacController: BRICK1
+    name: CS2
+  - type: pmac.CS
+    CS: 2
+    IdlePoll: 1000
+    PmacController: BRICK1
+    name: CS1
+  - type: pmac.CS
+    CS: 3
+    IdlePoll: 1000
+    PmacController: BRICK1
+    name: CS3