Configuring application
AirOS makes it easier for you to integrate your application code into an OS image by doing the work of copying your application artefacts into the root filesystem automatically. When we say application artefacts we are specifically talking about:
- 1.OCI container images
- 2.Systemd unit files
- 3.Scripts
Within AirOS there is a yocto layer called
meta-airbotics and within that, there is a recipe app-artifacts that is responsible for parsing your airbotics.yaml file and installing application artefacts onto the rootfs.The first step is to open
build/conf/local.conf and add the following:IMAGE_INSTALL_append = " app-artifacts"
Before you do this you must ensure your application repository contains a valid airbotics.yaml file.
git submodule add -b main --depth 1 <remote-url> app
- You will have to change the
<remote-url>to the URL of your repo. - You must ensure you are authenticated to pull the repo from
<remote-url>. - You will have to specify the branch you wish to be included by changing the
-bargument. - If your application repo contains submodules you will have to adjust the
--depthargument
Do not make changes to yourappfolder here, instead make them in the original repo, when you want to pull the latest changes, from the root you may run:git submodule update --init --recursive app
Here is an example of a valid
airbotics.yaml file:containers:
local:
-
dockerfile: cpp_package/Dockerfile
name: talker
tag: latest
-
dockerfile: py_package/Dockerfile
name: listener
tag: latest
remote:
-
repo: registry.hub.docker.com/library
name: ros
tag: noetic-ros-core
systemd_units:
- systemd_units/image-load.service
- systemd_units/container-load.service
- systemd_units/ros.service
- systemd_units/listener.service
- systemd_units/talker.service
scripts:
- scripts/image-load.sh
- scripts/container-create.sh
This file will do the following
- Build and copy 2 local container images
talker:latestfrom a dockerfile located at/app/cpp_package/Dockerfilelistener:latestfrom a dockerfile located at/app/py_package/Dockerfile
- Pull, build and copy 1 remote container image:
ros:noetic-ros-corefrom the official dockerhub registry
- Copy 5 systemd unit files from
app/systemd_units/containers.service - Copy 2 scripts from
app/scripts/container-run.sh
The currently supported artifacts are:
- 1.OCI container images
- 2.Systemd unit files
- 3.Scripts
- 4.many more coming soon
We support installing OCI images that are built locally or that are fetched from a remote container registry. In both cases once the container image is build or pulled, we will save the tar archive into the rootfs. You can then use a combination of scripts and systemd to control the container lifecycle. See our sample application for a real implementation.
- 1.
local: These will be built usingdockeron your build machine and installed on the rootfs. - 2.
remote: These will be pulled from the remote registry on your build machine and installed on the rootfs.
All of the installed image tars will be located in the
/usr/share/container-images directory.These can be used as a process manager for your containers. All services will be installed into
/lib/systemd/system directory and enabled so they run automatically on boot.These can be called by a systemd unit to load and start containers, or any other use case you see fit. Scripts are written to the
/usr/bin/ directory on the rootfs.Last modified 16d ago