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gplan.so: build from source using Raspbian Stretch Docker

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Use balenalib/raspberry-pi-debian:stretch with legacy.raspbian.org repos.
Exact match: GCC 6.3, Python 3.5, GLIBC 2.24 — identical to the Pi.
First build ~25min (QEMU), subsequent builds ~1sec (cached image).

Replaces the broken Bullseye approach that had GLIBC/GLIBCXX mismatches.
This commit is contained in:
Henrik Muehe
2026-04-30 16:33:11 +02:00
parent 4d2d5fd88c
commit 704bc8d35c
4 changed files with 56 additions and 64 deletions
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1
.gitignore vendored
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@@ -38,3 +38,4 @@ src/avr/emu/bbemu
src/avr/emu/build/ src/avr/emu/build/
.pi/pi-python35.tar.gz .pi/pi-python35.tar.gz
src/py/camotics/gplan.so.built

31
.pi/BUILD.md
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@@ -54,23 +54,35 @@ ELF 32-bit LSB shared object, ARM, EABI5 (linked against libpython3.5m.so.1.0)
``` ```
If you see `ELF 64-bit LSB shared object, ARM aarch64` or `libpython3.9` — wrong. If you see `ELF 64-bit LSB shared object, ARM aarch64` or `libpython3.9` — wrong.
**Option A: From official release (recommended)** **Option A: Build from source (recommended)**
Uses a Raspbian Stretch Docker image that exactly matches the Pi's toolchain:
GCC 6.3, Python 3.5, GLIBC 2.24. No cross-compile hacks, no ABI mismatches.
```bash
.pi/build-gplan.sh
```
- First run: ~25min (builds `onefin-gplan` Docker image with pre-compiled cbang + camotics)
- After that: ~1sec (copies cached `gplan.so` from image)
- Force rebuild: `docker rmi onefin-gplan && .pi/build-gplan.sh`
See `.pi/Dockerfile.gplan` for the full build recipe.
**Option B: From official release**
```bash ```bash
curl -sL https://github.com/OneFinityCNC/onefinity-firmware/releases/download/v1.6.6/onefinity-1.6.6.tar.bz2 \ curl -sL https://github.com/OneFinityCNC/onefinity-firmware/releases/download/v1.6.6/onefinity-1.6.6.tar.bz2 \
| tar xjf - --include='*/gplan.so' -O > src/py/camotics/gplan.so | tar xjf - --include='*/gplan.so' -O > src/py/camotics/gplan.so
``` ```
The gplan.so is pure G-code planning with no version-specific code — safe to **Option C: From a working Pi**
reuse across firmware versions.
**Option B: From a working Pi**
```bash ```bash
scp bbmc@10.1.10.55:/usr/local/lib/python3.5/dist-packages/bbctrl-*.egg/camotics/gplan.so src/py/camotics/ scp bbmc@10.1.10.55:/usr/local/lib/python3.5/dist-packages/bbctrl-*.egg/camotics/gplan.so src/py/camotics/
``` ```
**Option C: Build from source (broken — documented for reference)** **Failed approach: Debian Bullseye armhf (documented for reference)**
Uses Docker's armv7 QEMU emulation on Apple Silicon. Requires a one-time Uses Docker's armv7 QEMU emulation on Apple Silicon. Requires a one-time
copy of Python 3.5 headers from the Pi (~1.7MB): copy of Python 3.5 headers from the Pi (~1.7MB):
@@ -142,10 +154,9 @@ Stretch has GLIBC_2.24 / GLIBCXX_3.4.22 max. Even with `-static-libstdc++
-static-libgcc`, glibc symbols like `GLIBC_2.29` leak through the object -static-libgcc`, glibc symbols like `GLIBC_2.29` leak through the object
files compiled against Bullseye headers. files compiled against Bullseye headers.
To truly build from source you'd need a Stretch armhf container — but The solution was to use `balenalib/raspberry-pi-debian:stretch` with
Stretch's archived repos have broken package metadata that prevents `legacy.raspbian.org` repos — these still work unlike bare `debian:stretch`.
installing build-essential + scons. The official gplan.so was built See `.pi/Dockerfile.gplan`.
in a Raspbian Stretch chroot (see `scripts/gplan-init-build.sh`).
**Key Pi constraints for native code:** **Key Pi constraints for native code:**
- GLIBC ≤ 2.24 (Stretch) - GLIBC ≤ 2.24 (Stretch)

34
.pi/Dockerfile.gplan
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@@ -1,15 +1,24 @@
# Pre-built armv7 environment for gplan.so # Raspbian Stretch armhf build environment for gplan.so
# Build once: docker build --platform linux/arm/v7 -t onefin-gplan -f .pi/Dockerfile.gplan .pi/ # Matches the Pi exactly: GCC 6.3, Python 3.5, GLIBC 2.24
# Then use: .pi/build-gplan.sh #
FROM debian:bullseye # Build image: docker build -t onefin-gplan -f .pi/Dockerfile.gplan .pi/
# Build gplan: .pi/build-gplan.sh
FROM balenalib/raspberry-pi-debian:stretch
RUN apt-get update -qq && \ # Fix repos to use archived Raspbian mirrors
DEBIAN_FRONTEND=noninteractive apt-get install -y -qq --no-install-recommends \ RUN echo "deb http://legacy.raspbian.org/raspbian/ stretch main contrib non-free rpi" \
build-essential scons git ca-certificates python3-dev \ > /etc/apt/sources.list && \
rm -f /etc/apt/sources.list.d/*.list
RUN apt-get -o Acquire::Check-Valid-Until=false \
-o Acquire::AllowInsecureRepositories=true update && \
apt-get -o Acquire::Check-Valid-Until=false --allow-unauthenticated \
install -y --no-install-recommends \
build-essential python3-dev scons git ca-certificates \
libssl-dev libexpat1-dev libbz2-dev liblz4-dev zlib1g-dev perl file && \ libssl-dev libexpat1-dev libbz2-dev liblz4-dev zlib1g-dev perl file && \
rm -rf /var/lib/apt/lists/* rm -rf /var/lib/apt/lists/*
# Clone and build cbang (static lib, ~5min under QEMU) # Clone and build cbang
RUN mkdir -p /opt/cbang && cd /opt/cbang && git init -q && \ RUN mkdir -p /opt/cbang && cd /opt/cbang && git init -q && \
git remote add origin https://github.com/CauldronDevelopmentLLC/cbang && \ git remote add origin https://github.com/CauldronDevelopmentLLC/cbang && \
git fetch --depth 1 -q origin 18f1e963107ef26abe750c023355a5c40dd07853 && \ git fetch --depth 1 -q origin 18f1e963107ef26abe750c023355a5c40dd07853 && \
@@ -17,7 +26,7 @@ RUN mkdir -p /opt/cbang && cd /opt/cbang && git init -q && \
scons -j2 disable_local="re2 libevent" && \ scons -j2 disable_local="re2 libevent" && \
rm -rf .git build/dep rm -rf .git build/dep
# Clone and patch camotics (source only, don't compile yet — that depends on workspace) # Clone, patch, and build camotics/gplan
RUN mkdir -p /opt/camotics && cd /opt/camotics && git init -q && \ RUN mkdir -p /opt/camotics && cd /opt/camotics && git init -q && \
git remote add origin https://github.com/CauldronDevelopmentLLC/camotics && \ git remote add origin https://github.com/CauldronDevelopmentLLC/camotics && \
git fetch --depth 1 -q origin ec876c80d20fc19837133087cef0c447df5a939d && \ git fetch --depth 1 -q origin ec876c80d20fc19837133087cef0c447df5a939d && \
@@ -31,10 +40,9 @@ RUN mkdir -p /opt/camotics && cd /opt/camotics && git init -q && \
done && \ done && \
rm -rf .git rm -rf .git
# Pre-compile camotics objects (the slow part, ~20min under QEMU)
ENV CBANG_HOME=/opt/cbang ENV CBANG_HOME=/opt/cbang
RUN cd /opt/camotics && scons -j2 gplan.so with_gui=0 with_tpl=0 && \
rm -f gplan.so # remove the python3.9-linked one, we relink at build time
ENV CBANG_HOME=/opt/cbang # Pre-compile everything including gplan.so
RUN cd /opt/camotics && scons -j2 gplan.so with_gui=0 with_tpl=0
WORKDIR /opt/camotics WORKDIR /opt/camotics

54
.pi/build-gplan.sh
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@@ -1,58 +1,30 @@
#!/usr/bin/env bash #!/usr/bin/env bash
set -euo pipefail set -euo pipefail
# Build gplan.so for the Onefinity Pi (armv7l, Python 3.5) # Build gplan.so for the Onefinity Pi (armv7l, Python 3.5, GCC 6.3)
# #
# First run: ~30min (builds the Docker image with pre-compiled cbang/camotics) # Uses a Raspbian Stretch Docker image that exactly matches the Pi's
# After that: ~2sec (just relinks against Python 3.5m) # toolchain. No cross-compile, no relink hacks, no GLIBC mismatches.
# #
# Prerequisites: # First run: ~30min (builds Docker image with cbang + camotics)
# - Docker with QEMU binfmt support (default on Docker Desktop) # After that: ~1sec (copies pre-built gplan.so from image)
# - Python 3.5 headers from the Pi in .pi/pi-python35.tar.gz
# Grab once: ssh bbmc@10.1.10.55 'tar czf - /usr/include/python3.5m \
# /usr/lib/arm-linux-gnueabihf/libpython3.5m.so*' > .pi/pi-python35.tar.gz
SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)" SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
PROJECT_DIR="$(dirname "$SCRIPT_DIR")" PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
IMAGE="onefin-gplan" IMAGE="onefin-gplan"
HEADERS="$SCRIPT_DIR/pi-python35.tar.gz"
OUTPUT="$PROJECT_DIR/src/py/camotics/gplan.so" OUTPUT="$PROJECT_DIR/src/py/camotics/gplan.so"
# Check for Python 3.5 headers # Build image if needed (one-time)
if [[ ! -f "$HEADERS" ]]; then
echo "Python 3.5 headers not found at $HEADERS"
echo "Fetching from Pi..."
ssh bbmc@10.1.10.55 'tar czf - /usr/include/python3.5m \
/usr/lib/arm-linux-gnueabihf/libpython3.5m.so*' > "$HEADERS"
fi
# Build image if needed (one-time, ~30min)
if ! docker image inspect "$IMAGE" >/dev/null 2>&1; then if ! docker image inspect "$IMAGE" >/dev/null 2>&1; then
echo "Building $IMAGE Docker image (one-time, ~30min under QEMU)..." echo "Building $IMAGE Docker image (one-time, ~30min under QEMU)..."
docker build --platform linux/arm/v7 -t "$IMAGE" -f "$SCRIPT_DIR/Dockerfile.gplan" "$SCRIPT_DIR" docker build -t "$IMAGE" -f "$SCRIPT_DIR/Dockerfile.gplan" "$SCRIPT_DIR"
fi fi
# Relink gplan.so against Python 3.5m (~2sec) # Copy gplan.so out of the image
echo "Linking gplan.so against Python 3.5m..." echo "Extracting gplan.so..."
docker run --rm --platform linux/arm/v7 \ docker run --rm -v "$PROJECT_DIR:/workspace" "$IMAGE" \
-v "$HEADERS:/tmp/pi-python35.tar.gz:ro" \ bash -c 'cp /opt/camotics/gplan.so /workspace/src/py/camotics/gplan.so && \
-v "$PROJECT_DIR:/workspace" \ file /workspace/src/py/camotics/gplan.so && \
"$IMAGE" bash -c ' readelf -d /workspace/src/py/camotics/gplan.so | grep -E "NEEDED|python"'
tar xzf /tmp/pi-python35.tar.gz -C /
ln -sf /usr/lib/arm-linux-gnueabihf/libpython3.5m.so.1.0 \
/usr/lib/arm-linux-gnueabihf/libpython3.5m.so
g++ -o /workspace/src/py/camotics/gplan.so \
-Wl,--as-needed -Wl,-s -Wl,-x -Wl,--gc-sections -pthread -shared \
build/gplan.os -L/opt/cbang/lib \
build/libCAMoticsPy.a build/libCAMotics.a build/libDXF.a \
build/libSTL.a build/libGCode.a \
-lstdc++ -lutil -lm -ldl -lz -lcbang -lcbang-boost \
-lssl -lcrypto -llz4 -lexpat -lbz2 -lcrypt -lpthread \
-lpython3.5m build/dxflib/libdxflib.a
file /workspace/src/py/camotics/gplan.so
readelf -d /workspace/src/py/camotics/gplan.so | grep python
'
echo "✓ Built: $OUTPUT" echo "✓ Built: $OUTPUT"