v2

Author: qzhhhi

.github/workflows/update-image.yml

@@ -72,14 +72,8 @@ jobs:
         include:
           - arch: amd64
             runner: ubuntu-latest
-            cross_target: arm64
-            cross_triplet: aarch64-linux-gnu
-            expected_machine: AArch64
           - arch: arm64
             runner: ubuntu-24.04-arm
-            cross_target: amd64
-            cross_triplet: x86_64-linux-gnu
-            expected_machine: X86-64
     runs-on: ${{ matrix.runner }}
     steps:
       - name: Checkout repository
@@ -158,44 +152,6 @@ jobs:
           cache-from: type=gha,scope=docker-build-develop-full-${{ matrix.arch }}
           cache-to: type=gha,mode=max,scope=docker-build-develop-full-${{ matrix.arch }}
 
-      - name: Smoke test (cross build + readelf)
-        env:
-          IMAGE_DIGEST: ${{ steps.build_develop_full.outputs.digest }}
-          CROSS_TARGET: ${{ matrix.cross_target }}
-          CROSS_TRIPLET: ${{ matrix.cross_triplet }}
-          EXPECTED_MACHINE: ${{ matrix.expected_machine }}
-        run: |
-          set -euo pipefail
-          uid="$(id -u)"
-          gid="$(id -g)"
-          docker run --rm \
-            --platform "linux/${{ matrix.arch }}" \
-            --user "${uid}:${gid}" \
-            -e HOME=/tmp/rmcs-home \
-            -e RMCS_PATH=/workspaces/RMCS \
-            -e CROSS_TARGET="${CROSS_TARGET}" \
-            -e CROSS_TRIPLET="${CROSS_TRIPLET}" \
-            -e EXPECTED_MACHINE="${EXPECTED_MACHINE}" \
-            -v "$PWD:/workspaces/RMCS" \
-            -w /workspaces/RMCS \
-            "${{ env.REGISTRY_IMAGE_DEVELOP }}@${IMAGE_DIGEST}" \
-            bash -lc '
-              set -euo pipefail
-              mkdir -p "${HOME}"
-              test -d "/opt/sysroots/${CROSS_TARGET}"
-              command -v "${CROSS_TRIPLET}-gcc"
-              command -v "${CROSS_TRIPLET}-g++"
-              ./.script/build-rmcs-cross --target-arch "${CROSS_TARGET}" --packages-up-to rmcs_executor
-              lib_dir="/workspaces/RMCS/rmcs_ws/install-cross-${CROSS_TARGET}/lib"
-              for lib in librmcs_core.so librmcs_executor.so libserial.so; do
-                if [[ ! -f "${lib_dir}/${lib}" ]]; then
-                  echo "Missing library: ${lib_dir}/${lib}" >&2
-                  exit 1
-                fi
-                readelf -h "${lib_dir}/${lib}" | grep -q "Machine:.*${EXPECTED_MACHINE}"
-              done
-            '
-
       - name: Export digest (Develop Full)
         run: |
           mkdir -p "${{ runner.temp }}/digests-develop-full"
@@ -233,11 +189,90 @@ jobs:
           if-no-files-found: error
           retention-days: 1
 
-  merge:
+  verify_images:
+    needs: build_images
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - arch: amd64
+            runner: ubuntu-latest
+            cross_target: arm64
+            cross_triplet: aarch64-linux-gnu
+            expected_machine: AArch64
+          - arch: arm64
+            runner: ubuntu-24.04-arm
+            cross_target: amd64
+            cross_triplet: x86_64-linux-gnu
+            expected_machine: X86-64
+    runs-on: ${{ matrix.runner }}
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Log in to Docker Hub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Download digests (Develop Full)
+        uses: actions/download-artifact@v7
+        with:
+          path: ${{ runner.temp }}/digests/develop-full
+          pattern: digests-develop-full-*
+          merge-multiple: true
+
+      - name: Resolve develop-full digest
+        id: resolve
+        run: |
+          set -euo pipefail
+          digest_file="${{ runner.temp }}/digests/develop-full/${{ matrix.arch }}.digest"
+          image_digest="$(cat "${digest_file}")"
+          echo "image_digest=${image_digest}" >> "$GITHUB_OUTPUT"
+
+      - name: Smoke test (cross build + readelf)
+        env:
+          IMAGE_DIGEST: ${{ steps.resolve.outputs.image_digest }}
+          CROSS_TARGET: ${{ matrix.cross_target }}
+          CROSS_TRIPLET: ${{ matrix.cross_triplet }}
+          EXPECTED_MACHINE: ${{ matrix.expected_machine }}
+        run: |
+          set -euo pipefail
+          uid="$(id -u)"
+          gid="$(id -g)"
+          docker run --rm \
+            --platform "linux/${{ matrix.arch }}" \
+            --user "${uid}:${gid}" \
+            -e HOME=/tmp/rmcs-home \
+            -e RMCS_PATH=/workspaces/RMCS \
+            -e CROSS_TARGET="${CROSS_TARGET}" \
+            -e CROSS_TRIPLET="${CROSS_TRIPLET}" \
+            -e EXPECTED_MACHINE="${EXPECTED_MACHINE}" \
+            -v "$PWD:/workspaces/RMCS" \
+            -w /workspaces/RMCS \
+            "${{ env.REGISTRY_IMAGE_DEVELOP }}@${IMAGE_DIGEST}" \
+            bash -lc '
+              set -euo pipefail
+              mkdir -p "${HOME}"
+              test -d "/opt/sysroots/${CROSS_TARGET}"
+              command -v "${CROSS_TRIPLET}-gcc"
+              command -v "${CROSS_TRIPLET}-g++"
+              ./.script/build-rmcs-cross --target-arch "${CROSS_TARGET}" --packages-up-to rmcs_executor
+              lib_path="/workspaces/RMCS/rmcs_ws/install-cross-${CROSS_TARGET}/lib/librmcs_executor.so"
+              if [[ ! -f "${lib_path}" ]]; then
+                echo "Missing library: ${lib_path}" >&2
+                exit 1
+              fi
+              readelf -h "${lib_path}" | grep -q "Machine:.*${EXPECTED_MACHINE}"
+            '
+
+  promote:
     runs-on: ubuntu-latest
     needs:
       - build_base
       - build_images
+      - verify_images
     steps:
       - name: Download digests (Base)
         uses: actions/download-artifact@v7

README.md

@@ -72,14 +72,17 @@ build-rmcs
 
 Note: 用于开发的所有脚本均位于 `.script` 中，参见 开发脚本手册(TODO)。
 
-如需在 `latest-full` 中执行交叉编译，可使用：
+如需在 `latest-full` 中执行交叉编译，请根据当前容器架构选择对向目标：
 ```bash
 build-rmcs-cross --target-arch arm64
 ```
-或：
+适用于 `linux/amd64` 的 `latest-full` 变体。
+
 ```bash
 build-rmcs-cross --target-arch amd64
 ```
+适用于 `linux/arm64` 的 `latest-full` 变体。
+
 详见 [交叉编译使用说明](docs/zh-cn/cross_build.md)。
 
 ### Step 5 (Optional)：运行

docs/zh-cn/cross_build.md

@@ -25,19 +25,21 @@
 
 ## 3. 使用方式
 
-在 `latest-full` 容器里执行：
+在 `latest-full` 容器里，根据当前容器架构执行对向架构的交叉编译：
 
 ```bash
 build-rmcs-cross --target-arch arm64
 ```
 
-或：
+适用于 `linux/amd64` 的 `latest-full` 变体。
 
 ```bash
 build-rmcs-cross --target-arch amd64
 ```
 
-可追加常见 `colcon build` 参数，例如：
+适用于 `linux/arm64` 的 `latest-full` 变体。
+
+例如，可追加常见 `colcon build` 参数：
 
 ```bash
 build-rmcs-cross --target-arch arm64 --packages-up-to rmcs_executor
@@ -65,7 +67,7 @@ build-rmcs-cross --target-arch arm64 --packages-up-to rmcs_executor
 test -d /opt/sysroots/arm64
 command -v aarch64-linux-gnu-gcc
 ./.script/build-rmcs-cross --target-arch arm64 --packages-up-to rmcs_executor
-readelf -h rmcs_ws/install-cross-arm64/lib/librmcs_core.so
+readelf -h rmcs_ws/install-cross-arm64/lib/librmcs_executor.so
 ```
 
 若目标为 `amd64`，将上述 `arm64/aarch64-linux-gnu` 替换为 `amd64/x86_64-linux-gnu`。
@@ -80,4 +82,4 @@ readelf -h rmcs_ws/install-cross-arm64/lib/librmcs_core.so
   - sysroot 目录存在
   - cross 编译器可执行
   - `build-rmcs-cross --target-arch <opposite>` 可完成构建
-  - `readelf -h` 校验关键 so 架构
+  - `readelf -h` 校验 `librmcs_executor.so` 架构