arm-runner-action

Run tests natively and build images directly from GitHub Actions using a chroot-based virtualized Raspberry Pi (raspios/raspbian) environment.

With this action, you can:

• run tests in an environment closer to a real embedded system, using qemu userland Linux emulation;
• build artifacts in such environment and upload them;
• prepare images that are ready to run on Raspberry Pi and other ARM embedded devices.

This action works with both 32 bits (arm) and 64 bits (aarch64) images.

Usage

Minimal usage is as follows:

jobs:
  build:
    runs-on: ubuntu-latest
    steps:
    - uses: actions/checkout@v2
    - uses: pguyot/arm-runner-action@v2
      with:
        commands: |
            commands to run tests

Typical usage to upload an image as an artifact:

jobs:
  build:
    runs-on: ubuntu-latest
    steps:
    - uses: actions/checkout@v2
    - uses: pguyot/arm-runner-action@v2
      id: build_image
      with:
        base_image: raspios_lite:2022-04-04
        commands: |
            commands to build image
    - name: Compress the release image
      if: github.ref == 'refs/heads/releng' || startsWith(github.ref, 'refs/tags/')
      run: |
        mv ${{ steps.build_image.outputs.image }} my-release-image.img
        xz -0 -T 0 -v my-release-image.img
    - name: Upload release image
      uses: actions/upload-artifact@v2
      if: github.ref == 'refs/heads/releng' || startsWith(github.ref, 'refs/tags/')
      with:
        name: Release image
        path: my-release-image.img.xz

Several scenarios are actually implemented as tests.

Host and guest OS

The action has been tested with ubuntu-latest (currently equivalent to ubuntu-20.04) and ubuntu-22.04. It requires a Linux kernel that is compatible enough with the guest system as it uses qemu userland emulation. It relies on binfmt.

Commands

The repository is copied to the image before the commands script is executed in the chroot environment. The commands script is copied to /tmp/ and is deleted on cleanup.

Inputs

commands

Commands to execute. Written to a script within the image. Required.

base_image

Base image to use. By default, uses latest raspios_lite image. Please note that this is not necessarily well suited for continuous integration as the latest image can change with new releases.

The following values are allowed:

• raspbian_lite:2020-02-13
• raspbian_lite:latest
• raspios_lite:2021-03-04
• raspios_lite:2021-05-07
• raspios_lite:2021-10-30
• raspios_lite:2022-01-28
• raspios_lite:2022-04-04
• raspios_lite:2023-05-03
• raspios_lite:latest (armhf build, default)
• raspios_oldstable_lite:2023-05-03
• raspios_lite_arm64:2022-01-28 (arm64)
• raspios_lite_arm64:2022-04-04 (arm64)
• raspios_lite_arm64:2023-05-03 (arm64)
• raspios_lite_arm64:latest (arm64)
• dietpi:rpi_armv6_bullseye
• dietpi:rpi_armv7_bullseye
• dietpi:rpi_armv8_bullseye (arm64)
• dietpi:rpi_armv6_bookworm
• dietpi:rpi_armv7_bookworm
• dietpi:rpi_armv8_bookworm (arm64)
• raspi_1_bullseye:20220121 (armel)
• raspi_2_bullseye:20230102 (armhf)
• raspi_3_bullseye:20230102 (arm64)
• raspi_4_bullseye:20230102 (arm64)
• raspi_1_bookworm:20231109 (armel)
• raspi_2_bookworm:20231109 (armhf)
• raspi_3_bookworm:20231109 (arm64)
• raspi_4_bookworm:20231109 (arm64)

The input parameter also accepts any custom URL beginning in http(s)://...

It also accepts file:// URIs, which can be useful for caching steps in multistep builds. See cache test example.

More images will be added, eventually. Feel free to submit PRs.

image_additional_mb

Enlarge the image by this number of MB. Default is to not enlarge the image.

cpu

CPU to pass to qemu. Pass either a single CPU value or a pair <arm_cpu>:<aarch64_cpu>.

Default is arm1176:cortex-a53, i.e. arm1176 for arm and cortex-a53 for aarch64. This is the most compatible pair for Raspberry Pi. Indeed, arm1176 is the CPU of BCM2835 which is the SOC of first generation RaspberryPi and RaspberryPi Zero, while cortex-a53 is the 64 bits CPU of the first 64 bits Raspberry Pi models. Code compiled for arm1176 can be run on later 32 bits CPUs.

The following values are specially processed:

• arm1176 equivalent to arm1176:cortex-a53.
• cortex-a7 equivalent to cortex-a7:cortex-a53. Optimized for later Pi models (Pi 3/Pi 4 and Pi Zero 2). Not suitable for Pi 1/Pi 2/Pi Zero.
• cortex-a8 equivalent to cortex-a8:max.
• cortex-a53 equivalent to max:cortex-a53.

Some software uses the output of uname -m or equivalent. This command is directly driven by this cpu option. You might want to compile 32 bits binaries with both arm1176 which translates to armv6l and cortex-a7 which translates to armv7l.

For FPU and vector instruction sets, software usually automatically looks into /proc/cpuinfo or equivalent. This can be patched with cpu_info option.

Whether code is executed in 32 bits or 64 bits (and build generates 32 bits or 64 bits binaries) depend on the image. See 32 and 64 bits below.

copy_artifact_path

Source paths(s) inside the image to copy outside after the commands have executed. Relative to the /<repository_name> directory or the directory defined with copy_repository_path. Globs are allowed. To copy multiple paths, provide a list of paths, separated by semicolons. Default is not to copy.

copy_artifact_dest

Destination path to copy outside the image after the commands have executed. Relative to the working directory (outside the image). Defaults to .

copy_repository_path

Absolute path, inside the image, where the repository is copied or mounted. Defaults to /<repository_name>. It is also the working directory where commands are executed.

The repository is copied unless bind_mount_repository is set to true.

bind_mount_repository

Bind mount the repository within the image instead of copying it. Default is to copy files.

If mounted, any modification of files within the repository by the target emulated system will persist after execution. It does not accelerate execution significantly but can simplify the logic by avoiding the copy artifact step from the target system.

cpu_info

Path to a fake cpu_info file to be used instead of /proc/cpuinfo. Default is to not fake the CPU (/proc/cpuinfo will report amd64 CPU of GitHub runner).

Some software checks for features using /proc/cpuinfo and this option can be used to trick them. The path is relative to the action (to use pre-defined settings) or to the local repository.

Bundled with the action are the following 32 bits CPU infos:

• cpuinfo/raspberrypi_zero_w
• cpuinfo/raspberrypi_3b (requires cortex-a7 cpu)
• cpuinfo/raspberrypi_zero2_w (requires cortex-a7 cpu)

As well as the following 64 bits CPU infos:

• cpuinfo/raspberrypi_4b
• cpuinfo/raspberrypi_zero2_w_arm64

On real hardware, the /proc/cpuinfo file content depends on the CPU being used in 32 bits or 64 bits mode, which in turn depends on the base image. Consequently, you may want to use cpuinfo/raspberrypi_zero2_w_arm64 for 64 bits builds and cpuinfo/raspberrypi_zero2_w for 32 bits builds.

To avoid illegal instruction crashes, the cpu_info option must match what is passed to cpu option. In particular, when using 32 bits cpu_info, the default emulated CPU for 32 bits may not work and you should set cpu option to cortex-a7.

optimize_image

Zero-fill unused filesystem blocks and shrink root filesystem during final clean-up, to make any later image compression more efficient. Default is to optimize image.

use_systemd_nspawn

Use systemd-nspawn instead of chroot to run commands. Default is to use chroot.

systemd_nspawn_options

Additional options passed to systemd-nspawn. For example, -E CI=${CI} to pass CI environment variable. See systemd-nspawn(1).

rootpartition

Index (starting with 1) of the root partition. Default is 2, which is suitable for Raspberry Pi. NVIDIA Jetson images require 1. This is the partition that is resized with image_additional_mb option.

bootpartition

Index (starting with 1) of the boot partition which gets mounted at /boot. Default is 1, which is suitable for Raspberry Pi. If the value is empty, the partition is not mounted.

shell

Path to shell or shell name to run the commands in. Defaults to /bin/sh. If missing, it will be installed. See shell_package. If defined as basename filename, it will be used as long as the shell binary exists under PATH after the package is installed.

Parameters can be passed to the shell, e.g.:

shell: /bin/bash -eo pipefail

shell_package

The shell package to install, if different from shell. It may be handy with some shells that come packaged under a different package name.

For example, to use ksh93 as shell, set shell to ksh93 and shell_package to ksh.

user

User to run commands within the image. It must exists. By default, commands are run with user 0 (root). Unless you are using systemd-nspawn, you can also specify the group with the user:group syntax.

exit_on_fail

Exit immediately if a command exits with a non-zero status. Default is to exit. Set to no or false to disable exiting on command failure. This only works with sh, bash and ksh shells.

copy_artifacts_on_fail

Copy artifacts if a command exits with a non-zero status. Default is to no copy. Set to yes to copy artifacts.

debug

Display executed commands as they are executed. Enabled by default.

import_github_env

Imports variables written so far to $GITHUB_ENV to the image. Default is not to import any environment. This may be useful for sharing external variables with the virtual environment. Set to yes or true to enable.

Practically, this setting allows constructs like ${VARIABLE_NAME} instead of ${{ env.VARIABLE_NAME }} within the command set.

export_github_env

Enables $GITHUB_ENV for commands in the image and exports its contents on completion to subsequent tasks. This option is an alternative to using a file-based artifact for passing the results of commands outside the image environment.

Note this parameter does not enable importing any contents written to $GITHUB_ENV ahead of running the commands. For that, use import_github_env.

Outputs

image

Path to the image, useful after the step to upload the image as an artifact.

32 and 64 bits

Many RaspberryPis and ARM boards are based on 64-bits chipsets than can run 32 bits and 64 bits kernels. RaspberryPi OS, as well as other distributions, are now provided in 32 bits and 64 bits flavors.

This action works for images built for 32 bits and 64 bits ARM architectures. Default input values imply 32 bits images. For 64 bits, the CPU and the base image should match.

The following matrix will build on armv6l, armv7l and aarch64 using the latest RaspberryPi OS images.

name: Test architecture matrix
on: [push, pull_request, workflow_dispatch]
jobs:
  build:
    runs-on: ubuntu-latest
    strategy:
      matrix:
        arch: [armv6l, armv7l, aarch64]
        include:
        - arch: armv6l
          cpu: arm1176
          base_image: raspios_lite:latest
          cpu_info: raspberrypi_zero_w
        - arch: armv7l
          cpu: cortex-a7
          base_image: raspios_lite:latest
          cpu_info: raspberrypi_3b
        - arch: aarch64
          cpu: cortex-a53
          base_image: raspios_lite_arm64:latest
          cpu_info: raspberrypi_zero2_w_arm64_w
    steps:
    - uses: pguyot/arm-runner-action@v2
      with:
        base_image: ${{ matrix.base_image }}
        cpu: ${{ matrix.cpu }}
        cpu_info: ${{ matrix.cpu_info }}
        commands: |
            test `uname -m` = ${{ matrix.arch }}
            grep Model /proc/cpuinfo

Internally, the cpu value is embedded in a wrapper for qemu-arm-static and qemu-aarch64-static. The actual qemu invoked depends on executables within the base image.

Examples

Real world examples include:

• pguyot/wm8960 : compilation and tests
• nabaztag2018/pynab : compilation, tests and disk image.

Releases

Releases are listed on dedicated page. Release numbers follow semantic versionning : incompatible changes in invocation will be reflected with major release upgrades.