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Dockerfile.agnos
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Dockerfile.agnos
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# check=error=true
# ################## #
# ### Package ##### #
# ### Compilation ## #
# ################## #
FROM ubuntu:24.04 AS agnos-compiler
# Common packages
RUN apt-get update && apt-get install -yq --no-install-recommends \
build-essential \
ca-certificates \
ccache \
clang \
curl \
checkinstall \
git \
pkg-config \
wget
# Enable ccache
ENV PATH="/usr/lib/ccache:$PATH"
# capnproto
FROM agnos-compiler AS agnos-compiler-capnp
COPY ./userspace/compile-capnp.sh /tmp/agnos/
RUN --mount=type=cache,target=/root/.ccache,id=capnp,sharing=shared \
/tmp/agnos/compile-capnp.sh
# ffmpeg
FROM agnos-compiler AS agnos-compiler-ffmpeg
COPY ./userspace/compile-ffmpeg.sh /tmp/agnos/
RUN --mount=type=cache,target=/root/.ccache,id=ffmpeg,sharing=shared \
/tmp/agnos/compile-ffmpeg.sh
# ModemManager
FROM agnos-compiler AS agnos-compiler-modemmanager
COPY ./userspace/compile-modemmanager.sh /tmp/agnos/
RUN --mount=type=cache,target=/root/.ccache,id=modemmanager,sharing=shared \
/tmp/agnos/compile-modemmanager.sh
# qtwayland5
FROM agnos-compiler AS agnos-compiler-qtwayland5
COPY ./userspace/qtwayland/*.deb /tmp/agnos/
COPY ./userspace/compile-qtwayland5.sh /tmp/agnos/
COPY ./userspace/qtwayland/patch* /tmp/agnos/
RUN --mount=type=cache,target=/root/.ccache,id=qtwayland5,sharing=shared \
/tmp/agnos/compile-qtwayland5.sh
# ################## #
# ###### Base ###### #
# ################## #
FROM scratch AS agnos-base
# Add Ubuntu Base image files
ARG UBUNTU_BASE_IMAGE
ADD ${UBUNTU_BASE_IMAGE} /
# Build folder
RUN mkdir -p /tmp/agnos
# Stop on error
RUN set -xe
ARG USERNAME=comma
# Base system setup
RUN echo "resolvconf resolvconf/linkify-resolvconf boolean false" | debconf-set-selections
COPY ./userspace/base_setup.sh /tmp/agnos
RUN /tmp/agnos/base_setup.sh
# Install openpilot dependencies
COPY ./userspace/openpilot_dependencies.sh /tmp/agnos/
RUN /tmp/agnos/openpilot_dependencies.sh
COPY ./userspace/openpilot_python_dependencies.sh /tmp/agnos/
RUN /tmp/agnos/openpilot_python_dependencies.sh
# Install old Qt 5.12.8, libwayland 1.9.0-1 and deps
COPY ./userspace/qtwayland/*.deb /tmp/agnos/
RUN apt-get -o Dpkg::Options::="--force-overwrite" install -yq \
/tmp/agnos/qt-5.12.8.deb \
/tmp/agnos/libwayland-1.9.0-1.deb \
/tmp/agnos/libicu66_66.1-2ubuntu2.1_arm64.deb \
/tmp/agnos/libssl1.1_1.1.1f-1ubuntu2.22_arm64.deb \
/tmp/agnos/libffi6_3.2.1-8_arm64.deb
# ################### #
# ###### AGNOS ###### #
# ################### #
FROM agnos-base
# Hardware setup
RUN mkdir -p /tmp/agnos/debs
COPY ./userspace/debs /tmp/agnos/debs
COPY ./userspace/hardware_setup.sh /tmp/agnos
RUN /tmp/agnos/hardware_setup.sh
RUN mv /data/persist /system/ && rm -rf /data/*
# Pre-compiled libqmi and modemmanager
COPY --from=agnos-compiler-modemmanager /tmp/libqmi.deb /tmp/modemmanager.deb /tmp/
RUN cd /tmp && \
apt-get update && \
apt-get install -yq --no-install-recommends \
gir1.2-qmi-1.0 \
libglib2.0-dev \
libqmi-glib5 \
libc6 \
libglib2.0-0t64 \
libgudev-1.0-0 \
libmm-glib0 \
libpolkit-gobject-1-0 \
libsystemd0 \
polkitd \
polkitd-pkla \
mobile-broadband-provider-info && \
apt-get -o Dpkg::Options::="--force-overwrite" install -yq ./libqmi.deb && \
apt-get -o Dpkg::Options::="--force-overwrite" install -yq ./modemmanager.deb
# Pre-compiled capnp (must be before python install)
COPY --from=agnos-compiler-capnp /tmp/capnproto.deb /tmp/capnproto.deb
RUN cd /tmp && apt-get -o Dpkg::Options::="--force-overwrite" install -yq ./capnproto.deb
# Use other pre-compiled packages
COPY --from=agnos-compiler-ffmpeg /tmp/ffmpeg.deb /tmp/ffmpeg.deb
RUN cd /tmp && apt-get -o Dpkg::Options::="--force-overwrite" install -yq ./ffmpeg.deb
ARG XDG_DATA_HOME="/usr/local"
ARG PATH="$XDG_DATA_HOME/.cargo/bin:$PATH"
# Install openpilot python packages
COPY ./userspace/uv /tmp/agnos/uv
RUN source $XDG_DATA_HOME/venv/bin/activate && \
cd /tmp/agnos/uv && \
export PYOPENCL_CL_PRETEND_VERSION="2.0" && \
pc="$(python -c "import sysconfig;print(sysconfig.get_config_vars('installed_base')[0])")" && \
pcpath=$pc"/lib/pkgconfig" && \
export PKG_CONFIG_PATH="$pcpath:$PKG_CONFIG_PATH" && \
pypcpath=$pcpath"/python-3.12.pc" && \
sed -i 's|prefix=/install|prefix='$pc'|' $pypcpath && \
pypcpathembed=$pcpath"/python-3.12-embed.pc" && \
sed -i 's|prefix=/install|prefix='$pc'|' $pypcpathembed && \
MAKEFLAGS="-j$(nproc)" UV_NO_CACHE=1 UV_PROJECT_ENVIRONMENT=$XDG_DATA_HOME/venv uv sync --frozen --inexact --compile-bytecode
# Install nice to haves
COPY ./userspace/install_extras.sh /tmp/agnos/
RUN /tmp/agnos/install_extras.sh
COPY --from=agnos-compiler-qtwayland5 /tmp/qtwayland5.deb /tmp/qtwayland5.deb
RUN cd /tmp && apt-get -o Dpkg::Options::="--force-overwrite" install -yq --allow-downgrades ./qtwayland5.deb
# Patched libeglSubDriverWayland with fixed nullptr deref in CommitBuffer
COPY ./userspace/files/libeglSubDriverWayland.so.patched /lib/aarch64-linux-gnu/libeglSubDriverWayland.so
COPY ./userspace/home/ /home/$USERNAME/
COPY ./userspace/home/.config/ /root/.config
RUN chown -R $USERNAME: /home/$USERNAME/.config
# populate /lib
COPY ./userspace/files/*.path /lib/systemd/system/
COPY ./userspace/files/*.mount /lib/systemd/system/
COPY ./userspace/files/*.service /lib/systemd/system/
COPY ./userspace/files/*.timer /lib/systemd/system/
COPY ./userspace/files/serial-getty@ttyMSM0_override.conf /lib/systemd/system/serial-getty@ttyMSM0.service.d/serial-getty@ttyMSM0_override.conf
COPY ./userspace/files/ssh_override.conf /lib/systemd/system/ssh.service.d/override.conf
COPY ./userspace/firmware/* /lib/firmware/
# populate /etc
COPY ./userspace/files/fstab /etc
COPY ./userspace/files/profile /etc/profile
COPY ./userspace/files/01-network-manager-all.yaml /etc/netplan/
COPY ./userspace/files/allow-network-control.pkla /etc/polkit-1/localauthority/50-local.d/allow-network-control.pkla
COPY ./userspace/files/allow-modem-control.pkla /etc/polkit-1/localauthority/50-local.d/allow-modem-control.pkla
COPY ./userspace/files/*.rules /etc/udev/rules.d/
COPY ./userspace/files/ssh*_config /etc/ssh/
COPY ./userspace/files/logrotate.conf /etc/
RUN chmod 644 /etc/logrotate.conf
RUN touch -r /lib/systemd/systemd /etc/fstab
# populate /usr
COPY ./userspace/usr/comma/ /usr/$USERNAME/
COPY ./userspace/usr/share/fonts/* /usr/share/fonts/
COPY ./userspace/libs/* /usr/lib/aarch64-linux-gnu/
COPY ./userspace/libs32/* /usr/lib/arm-linux-gnueabihf/
# kernel headers for the AGNOS kernel (built on device)
COPY ./userspace/files/linux-headers-4.9.103+_4.9.103+-1_arm64.deb /tmp/
RUN dpkg -i /tmp/linux-headers-4.9.103+_4.9.103+-1_arm64.deb
# Weston with hacked touch rotate and color correction
COPY ./userspace/files/weston /usr/bin/weston
COPY ./userspace/files/gl-renderer.so /usr/lib/arm-linux-gnueabihf/weston
# Setup systemd services
COPY ./userspace/services.sh /tmp/agnos
RUN /tmp/agnos/services.sh
# MOTD
RUN rm -r /etc/update-motd.d/*
COPY --chown=root:root ./userspace/motd/* /etc/update-motd.d/
# Let NetworkManager manage eth0
COPY ./userspace/files/10-globally-managed-devices.conf /etc/NetworkManager/conf.d/10-globally-managed-devices.conf
COPY ./userspace/files/NetworkManager.conf /etc/NetworkManager/NetworkManager.conf
# Add cellular connections
COPY ./userspace/files/*.nmconnection /usr/lib/NetworkManager/system-connections/
RUN chmod 600 /usr/lib/NetworkManager/system-connections/*.nmconnection
# Prefer ipv4 over ipv6
RUN echo "precedence ::ffff:0:0/96 100" >> /etc/gai.conf
# Don't let logind delete /dev/shm
COPY ./userspace/files/logind.conf /etc/systemd/logind.conf
# Remove qt network bearer plugins
RUN rm -rf /usr/lib/aarch64-linux-gnu/qt5/plugins/bearer
# Add iptable rules to block incoming traffic on wwan0
COPY ./userspace/etc/iptables/rules.v4 /etc/iptables/rules.v4
# Run ModemManager in debug mode to allow AT commands
COPY ./userspace/files/ModemManager.service /lib/systemd/system/
RUN systemctl enable ModemManager
# Add more T-Mobile networks to mobile-broadband-provider-info (do we still need the package?)
COPY ./userspace/files/serviceproviders.xml /usr/share/mobile-broadband-provider-info/serviceproviders.xml
# Copy extra FW, rest comes from debs
COPY ./userspace/files/CAMERA_ICP.elf /usr/lib/firmware
# Setup hostname resolution for our custom hostname
RUN sed -i 's/hosts: files dns myhostname/hosts: files myhostname dns/g' /etc/nsswitch.conf
# TODO: move this to base_setup.sh or build gcc from source
# Remove unused architectures & bins from arm-none-eabi
RUN cd /usr/lib/gcc/arm-none-eabi/* && \
rm -rf arm/ && \
find thumb/ -maxdepth 1 -type d ! \( -name 'thumb' -o -name 'v7e-m+fp' -o -name 'v7e-m+dp' \) -exec rm -rf {} + && \
rm cc1plus g++-mapper-server && \
find /usr/bin -maxdepth 1 -type f -name 'arm-none-eabi-*' ! \( -name 'arm-none-eabi-gcc' -o -name 'arm-none-eabi-objcopy' -o -name 'arm-none-eabi-objdump' \) -delete
# keep this last
RUN ldconfig
# Setup RO rootfs
RUN mkdir -p /tmptmp
COPY ./userspace/files/comma.conf /usr/lib/tmpfiles.d/
COPY ./userspace/readonly_setup.sh /tmptmp/readonly_setup.sh
RUN /tmptmp/readonly_setup.sh && rm -rf /tmptmp
# copy at the end, after all apt usage
COPY ./userspace/files/apt.conf /etc/apt/apt.conf
# copy version file
COPY VERSION /VERSION
# ################## #
# #### Cleaunup #### #
# ################## #
RUN rm -rf /usr/share/icons/* && \
rm -rf /var/lib/apt/lists/* && \
rm -rf /home/$USERNAME/.cache && \
rm -rf /root/.cache && \
apt-get clean