Add support for .deb packages for ubuntu-noble-amd64 (#32)

Fix GH-35

---------

Co-authored-by: otegami <otegami@clear-code.com>
Co-authored-by: Sutou Kouhei <kou@clear-code.com>

.github/workflows/package.yaml

@@ -0,0 +1,148 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+name: Package
+on:
+  push:
+    branches:
+      - '**'
+      - '!dependabot/**'
+    tags:
+      - '**'
+  pull_request:
+concurrency:
+  group: ${{ github.head_ref || github.sha }}-${{ github.workflow }}
+  cancel-in-progress: true
+jobs:
+  source:
+    name: Source
+    runs-on: ubuntu-latest
+    timeout-minutes: 10
+    steps:
+      - uses: actions/checkout@v5
+      - name: Create source archive
+        run: |
+          rake dist
+      - uses: actions/upload-artifact@v4
+        with:
+          name: source
+          path: |
+            openarm-can-*.tar.gz
+  build:
+    name: Build
+    needs: source
+    strategy:
+      fail-fast: false
+      matrix:
+        id:
+          - ubuntu-noble-amd64
+    env:
+      APACHE_ARROW_REPOSITORY: ${{ github.workspace }}/apache-arrow
+    # condition && true-case || false-case
+    # ==
+    # condition ? true-case : false-case
+    runs-on: >-
+      ${{ (contains(matrix.id, 'arm64') ||
+           contains(matrix.id, 'aarch64')) && 'ubuntu-24.04-arm' ||
+                                              'ubuntu-latest' }}
+    timeout-minutes: 10
+    steps:
+      - uses: actions/checkout@v5
+        with:
+          submodules: recursive
+      - uses: actions/checkout@v5
+        with:
+          path: apache-arrow
+          repository: apache/arrow
+      - name: Prepare environment variables
+        run: |
+          id=${{ matrix.id }}
+          # ubuntu-noble-amd64 -> ubuntu-noble
+          os_version=${id%-*}
+          # ubuntu-noble -> ubuntu
+          os=${os_version%-*}
+          # ubuntu-noble -> noble
+          version=${os_version##*-}
+          # ubuntu-noble-amd64 -> amd64
+          architecture=${id##*-}
+
+          if [ "${os}" = "debian" ] || [ "${os}" = "ubuntu" ]; then
+            TASK_NAMESPACE=apt
+            if [ "${architecture}" = "amd64" ]; then
+              echo "APT_TARGETS=${os_version}" >> "${GITHUB_ENV}"
+              TEST_DOCKER_IMAGE="${os}:${version}"
+            else
+              echo "APT_TARGETS=${id}" >> "${GITHUB_ENV}"
+              TEST_DOCKER_IMAGE="arm64v8/${os}:${version}"
+            fi
+          else
+            TASK_NAMESPACE=yum
+            # amazon-linux -> amazonlinux
+            docker_os=${os/-/}
+            if [ "${architecture}" = "x86_64" ]; then
+              echo "YUM_TARGETS=${os_version}" >> "${GITHUB_ENV}"
+              TEST_DOCKER_IMAGE="${docker_os}:${version}"
+            else
+              echo "YUM_TARGETS=${id}" >> "${GITHUB_ENV}"
+              TEST_DOCKER_IMAGE="arm64v8/${docker_os}:${version}"
+            fi
+          fi
+          echo "ARCHITECTURE=${architecture}" >> ${GITHUB_ENV}
+          echo "TASK_NAMESPACE=${TASK_NAMESPACE}" >> ${GITHUB_ENV}
+          echo "TEST_DOCKER_IMAGE=${TEST_DOCKER_IMAGE}" >> ${GITHUB_ENV}
+      - name: Install dependencies
+        run: |
+          sudo apt update -o="APT::Acquire::Retries=3"
+          sudo apt install -y -V -o="APT::Acquire::Retries=3" \
+            devscripts \
+            ruby
+      - uses: actions/download-artifact@v5
+        with:
+          name: source
+      - name: Update version
+        if: github.ref_type != 'tag'
+        run: |
+          cd packages
+          rake version:update
+      - name: Login to GitHub Container registry
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      - name: Build with docker
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          cd packages
+          rake docker:pull || :
+          rake ${TASK_NAMESPACE}:build BUILD_DIR=build
+          if [ "${TASK_NAMESPACE}" = "yum" ] && [ "${ARCHITECTURE}" != "x86_64" ]; then
+            # Remove SRPMs from non x86_64 artifacts
+            rm -rf ${TASK_NAMESPACE}/repositories/*/*/source
+          fi
+      - name: Push the built Docker image
+        continue-on-error: true
+        run: |
+          cd packages
+          rake docker:push
+
+      # Test
+      - name: Test
+        run: |
+          docker run \
+            --rm \
+            --volume ${PWD}:/host:ro \
+            ${TEST_DOCKER_IMAGE} \
+            /host/packages/${TASK_NAMESPACE}/test.sh

.github/workflows/release.yaml

@@ -29,9 +29,7 @@ jobs:
       - uses: actions/checkout@v4
       - name: Create source archive
         run: |
-          git archive ${GITHUB_REF_NAME} \
-            --prefix openarm-can-${GITHUB_REF_NAME}/ \
-            --output openarm-can-${GITHUB_REF_NAME}.tar.gz
+          rake dist VERSION=${GITHUB_REF_NAME}
           sha256sum \
             openarm-can-${GITHUB_REF_NAME}.tar.gz > \
             openarm-can-${GITHUB_REF_NAME}.tar.gz.sha256

.gitignore

@@ -14,3 +14,15 @@
 
 /.vscode
 /build
+/openarm-can-*.tar.gz
+/packages/apt/build.sh
+/packages/apt/build/
+/packages/apt/env.sh
+/packages/apt/repositories/
+/packages/apt/tmp/
+/packages/openarm-can-*.tar.gz
+/packages/yum/build.sh
+/packages/yum/build/
+/packages/yum/env.sh
+/packages/yum/repositories/
+/packages/yum/tmp/

Rakefile

@@ -0,0 +1,28 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+require_relative "helper"
+
+version = ENV["VERSION"] || Helper.detect_version
+
+archive_base_name = "openarm-can-#{version}"
+archive_tar_gz = "#{archive_base_name}.tar.gz"
+file archive_tar_gz do
+  sh("git", "archive", "HEAD",
+     "--prefix", "#{archive_base_name}/",
+     "--output", archive_tar_gz)
+end
+
+desc "Create #{archive_tar_gz}"
+task :dist => archive_tar_gz

helper.rb

@@ -0,0 +1,21 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+module Helper
+  module_function
+  def detect_version
+    cmakelists = File.join(__dir__, "CMakeLists.txt")
+    File.read(cmakelists)[/^project\(.+ VERSION (.+?)\)/, 1]
+  end
+end

packages/Rakefile

@@ -0,0 +1,71 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+require "time"
+
+apache_arrow_repository = ENV["APACHE_ARROW_REPOSITORY"]
+if apache_arrow_repository.nil?
+  raise "Specify APACHE_ARROW_REPOSITORY environment variable"
+end
+require "#{apache_arrow_repository}/dev/tasks/linux-packages/package-task"
+
+require_relative "../helper"
+
+class OpenArmCANPackageTask < PackageTask
+  def initialize
+    super("openarm-can", detect_version, detect_release_time)
+  end
+
+  private
+  def detect_version
+    Helper.detect_version
+  end
+
+  def detect_release_time
+    release_time_env = ENV["RELEASE_TIME"]
+    if release_time_env
+      Time.parse(release_time_env).utc
+    else
+      Time.now.utc
+    end
+  end
+
+  def enable_yum?
+    false
+  end
+
+  def define_archive_task
+    file @archive_name do
+      if File.exist?("../#{@archive_name}")
+        ln_s("../#{@archive_name}",
+             @archive_name)
+      else
+        download("https://github.com/#{github_repository}/" +
+                 "releases/download/#{@version}/#{@archive_name}",
+                 @archive_name)
+      end
+    end
+  end
+
+  def github_repository
+    "enactic/openarm_can"
+  end
+
+  def docker_image(os, architecture)
+    "ghcr.io/#{github_repository.gsub(/"_"/, "-")}-package:#{super}"
+  end
+end
+
+task = OpenArmCANPackageTask.new
+task.define

packages/apt/test.sh

@@ -0,0 +1,28 @@
+#!/bin/bash
+#
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+set -exu
+
+apt update
+apt install -V -y curl lsb-release
+
+distribution=$(lsb_release --short --id | tr '[:upper:]' '[:lower:]')
+code_name=$(lsb_release --codename --short)
+architecture=$(dpkg --print-architecture)
+
+repositories_dir=/host/packages/apt/repositories
+apt install -V -y \
+    "${repositories_dir}"/"${distribution}"/pool/"${code_name}"/*/*/*/*_"${architecture}".deb

packages/apt/ubuntu-noble/Dockerfile

@@ -0,0 +1,33 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+FROM ubuntu:noble
+
+RUN \
+  echo "debconf debconf/frontend select Noninteractive" | \
+    debconf-set-selections
+
+ARG DEBUG
+
+RUN \
+  quiet=$([ "${DEBUG}" = "yes" ] || echo "-qq") && \
+  apt update ${quiet} && \
+  apt install -y -V ${quiet} \
+    build-essential \
+    ccache \
+    cmake \
+    debhelper \
+    devscripts \
+    ninja-build && \
+  apt clean

packages/debian/control

@@ -0,0 +1,67 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+Source: openarm-can
+Section: libs
+Priority: optional
+Maintainer: "Enactic, Inc." <openarm@enactic.ai>
+Rules-Requires-Root: no
+Build-Depends:
+ cmake,
+ debhelper-compat (= 13),
+Standards-Version: 4.6.0
+Homepage: https://docs.openarm.dev/
+Vcs-Browser: https://github.com/enactic/openarm_can
+Vcs-Git: https://github.com/enactic/openarm_can.git
+
+Package: libopenarm-can-dev
+Section: libdevel
+Architecture: any
+Multi-Arch: same
+Depends:
+ ${misc:Depends},
+ libopenarm-can1 (= ${binary:Version}),
+Description: Development files to use OpenArm CAN as a library
+ OpenArm CAN Library is a communication bridge between high-level
+ OpenArm control applications and low-level motor protocols.
+ It abstracts CAN bus communication via SocketCAN interface.
+ .
+ This package provides header files to use OpenArm CAN as a library.
+
+Package: libopenarm-can1
+Architecture: any
+Multi-Arch: same
+Depends:
+ ${misc:Depends},
+ ${shlibs:Depends},
+Description: CAN communication library for OpenArm robotic hardware
+ OpenArm CAN Library is a communication bridge between high-level
+ OpenArm control applications and low-level motor protocols.
+ It abstracts CAN bus communication via SocketCAN interface.
+
+Package: openarm-can-utils
+Architecture: any
+Depends:
+ ${misc:Depends},
+ ${shlibs:Depends},
+ can-utils,
+ iproute2,
+ python3,
+Description: Utility tools for OpenArm CAN configuration
+ OpenArm CAN Library is a communication bridge between high-level
+ OpenArm control applications and low-level motor protocols.
+ It abstracts CAN bus communication via Linux SocketCAN interface.
+ .
+ This package provides utility scripts for CAN interface setup,
+ motor diagnostics, and configuration tools.

packages/debian/copyright

@@ -0,0 +1,41 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+Format: https://www.debian.org/doc/packaging-manuals/copyright-format/1.0/
+Source: https://github.com/enactic/openarm_can/releases
+Upstream-Name: OpenArm CAN
+Upstream-Contact: "Enactic, Inc." <openarm@enactic.ai>
+
+Files:
+ *
+Copyright:
+ 2025 Enactic, Inc. <openarm@enactic.ai>
+License: Apache-2.0
+ Licensed to the Apache Software Foundation (ASF) under one or more
+ contributor license agreements.  See the NOTICE file distributed with
+ this work for additional information regarding copyright ownership.
+ The ASF licenses this file to You under the Apache License, Version 2.0
+ (the "License"); you may not use this file except in compliance with
+ the License.  You may obtain a copy of the License at
+ .
+      http://www.apache.org/licenses/LICENSE-2.0
+ .
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+ .
+ On Debian systems, the full text of the Apache Software License version 2 can
+ be found in the file `/usr/share/common-licenses/Apache-2.0'.

packages/debian/libopenarm-can-dev.install

@@ -0,0 +1,18 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+usr/include/*
+usr/lib/*/lib*.so
+usr/lib/*/pkgconfig/*
+usr/lib/*/cmake/OpenArmCAN/*

packages/debian/libopenarm-can1.install

@@ -0,0 +1,15 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+usr/lib/*/lib*.so.*

packages/debian/openarm-can-utils.install

@@ -0,0 +1,17 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+setup/configure_socketcan.sh usr/libexec/openarm-can
+setup/set_zero.sh usr/libexec/openarm-can
+setup/change_baudrate.py usr/libexec/openarm-can

packages/debian/rules

@@ -0,0 +1,27 @@
+#!/usr/bin/make -f
+#
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+export DEB_BUILD_MAINT_OPTIONS = hardening=+all
+
+%:
+	dh $@
+
+override_dh_auto_configure:
+	dh_auto_configure \
+		--buildsystem=cmake+ninja \
+		-- \
+		-DBUILD_SHARED_LIBS=ON \
+		-DCMAKE_BUILD_TYPE=RelWithDebInfo

packages/debian/source/format

@@ -0,0 +1 @@
+3.0 (quilt)

packages/debian/upstream/metadata

@@ -0,0 +1,18 @@
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+Bug-Database: https://github.com/enactic/openarm_can/issues
+Bug-Submit: https://github.com/enactic/openarm_can/issues/new
+Changelog: https://github.com/enactic/openarm_can/blob/main/packages/debian/changelog
+Documentation: https://docs.openarm.dev/software/can/
+Repository-Browse: https://github.com/enactic/openarm_can
+Repository: https://github.com/enactic/openarm_can.git