Add distro/ubuntuCore for UC26 snap and image builds.

Centralize salmanoff snapcraft, dangerous-model image scripts, and QEMU workflow so UC26 can be reproduced from the SMO repo without ubuntu-core-practice. Co-authored-by: Cursor <cursoragent@cursor.com>
2026-06-25 23:01:52 -04:00
parent 44d12eeb9e
commit 038d59f972
17 changed files with 1295 additions and 0 deletions
@@ -0,0 +1,20 @@
+#!/bin/bash
+# Wrapper: plugin search path, OpenCL ICD, Rusticl llvmpipe, Gallium DRI, libcamera IPA.
+set -euo pipefail
+
+shopt -s nullglob
+lib_dirs=("$SNAP/usr/lib/"*-linux-gnu)
+if ((${#lib_dirs[@]} > 0)); then
+    lib_dir="${lib_dirs[0]}"
+else
+    lib_dir="$SNAP/usr/lib"
+fi
+
+export RUSTICL_ENABLE="${RUSTICL_ENABLE:-llvmpipe}"
+export OCL_ICD_VENDORS="${OCL_ICD_VENDORS:-$SNAP/etc/OpenCL/vendors}"
+export LIBGL_DRIVERS_PATH="${LIBGL_DRIVERS_PATH:-${lib_dir}/dri}"
+export LIBCAMERA_IPA_MODULE_PATH="${LIBCAMERA_IPA_MODULE_PATH:-${lib_dir}/libcamera}"
+export LIBCAMERA_IPA_CONFIG_PATH="${LIBCAMERA_IPA_CONFIG_PATH:-$SNAP/usr/share/libcamera/ipa}"
+export LD_LIBRARY_PATH="${lib_dir}:${SNAP}/usr/lib:${LD_LIBRARY_PATH:-}"
+
+exec "${SNAP}/usr/bin/salmanoff" -p "${lib_dir}" "$@"
@@ -0,0 +1,109 @@
+# Salmanoff snap for Ubuntu Core 26 (salmanoff-dev-amd64 dangerous model).
+# Build from distro/ubuntuCore: ../../scripts/build-snap.sh
+name: salmanoff
+version: "0.01.001"
+summary: Salmanoff cognitive robotics runtime
+description: |
+  Sensor management runtime (SMO) with Livox LiDAR, libcamera, and OpenCL
+  stimulus paths. Packaged for iterative snap-first development before seeding
+  into an Ubuntu Core image.
+
+grade: devel
+confinement: strict
+base: core26
+
+lint:
+  ignore:
+    - unused-library:
+        - usr/lib/*/libcoreComp.so*
+        - usr/lib/*/liblcameraBuff.so*
+        - usr/lib/*/liblcameraDev.so*
+        - usr/lib/*/liblivoxGen1.so*
+        - usr/lib/*/liblivoxProto1.so*
+        - usr/lib/*/libattachmentSupport.so*
+        - usr/lib/*/libspinscale.so*
+        - usr/lib/*/libRusticlOpenCL.so*
+        - usr/lib/*/libboost_log_setup.so*
+        - usr/lib/*/libunwind*.so*
+        - usr/lib/*/liburing-ffi.so*
+        - usr/lib/*/libicu*.so*
+        - usr/lib/*/liblttng*.so*
+
+apps:
+  salmanoff:
+    command: bin/salmanoff-launch
+    plugs:
+      - network
+      - network-bind
+      - hardware-observe
+      - camera
+      - media-control
+    environment:
+      RUSTICL_ENABLE: llvmpipe
+      OCL_ICD_VENDORS: $SNAP/etc/OpenCL/vendors
+
+layout:
+  /etc/OpenCL:
+    bind: $SNAP/etc/OpenCL
+  /usr/lib/clc:
+    bind: $SNAP/usr/lib/clc
+  /usr/lib/x86_64-linux-gnu/libcamera:
+    bind: $SNAP/usr/lib/x86_64-linux-gnu/libcamera
+  /usr/share/libcamera:
+    bind: $SNAP/usr/share/libcamera
+
+parts:
+  launch:
+    plugin: nil
+    override-build: |
+      install -Dm755 "$CRAFT_PROJECT_DIR/bin/salmanoff-launch" \
+        "$CRAFT_PART_INSTALL/bin/salmanoff-launch"
+
+  salmanoff:
+    after: [launch]
+    plugin: cmake
+    # SMO repo root (distro/ubuntuCore/snaps/salmanoff -> ../../../..)
+    source: ../../..
+    source-type: local
+    source-submodules:
+      - libspinscale
+    build-packages:
+      - build-essential
+      - cmake
+      - ninja-build
+      - pkg-config
+      - flex
+      - bison
+      - git
+      - libboost1.88-dev
+      - libboost-system1.88-dev
+      - libboost-log1.88-dev
+      - liburing-dev
+      - libcamera-dev
+      - ocl-icd-opencl-dev
+    stage-packages:
+      - libboost-system1.88.0
+      - libboost-log1.88.0
+      - liburing2
+      - libcamera0.7
+      - libcamera-ipa
+      - ocl-icd-libopencl1
+      - mesa-opencl-icd
+      - libclc-20
+      - mesa-libgallium
+      - libgl1-mesa-dri
+    cmake-parameters:
+      - -DCMAKE_INSTALL_PREFIX=/usr
+      - -DCMAKE_BUILD_TYPE=RelWithDebInfo
+      - -DBoost_DIR=/usr/lib/x86_64-linux-gnu/cmake/Boost-1.88.0
+      - -DENABLE_TESTS=OFF
+      - -DENABLE_LIB_xcbXorg=OFF
+      - -DENABLE_LIB_lcameraDev=ON
+      - -DENABLE_STIMBUFFAPI_lcameraBuff=ON
+      - -DENABLE_LCAMERADEV_TOOLS=OFF
+      - -DCOMPILE_PCL_TOOLS=OFF
+    override-pull: |
+      craftctl default
+      git -C "$CRAFT_PART_SRC" submodule update --init libspinscale
+    prime:
+      - -usr/lib/x86_64-linux-gnu/liburing-ffi.so*