agnos-builder/Dockerfile.agnos

# 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"

# libqmi
FROM agnos-compiler AS agnos-compiler-libqmi
COPY ./userspace/compile-libqmi.sh /tmp/agnos/
RUN --mount=type=cache,target=/root/.ccache,id=libqmi,sharing=shared \
    /tmp/agnos/compile-libqmi.sh

# ModemManager
FROM agnos-compiler-libqmi 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

# power_burn_max
FROM agnos-compiler AS agnos-compiler-power-burn
RUN apt-get update && apt-get install -yq --no-install-recommends \
    opencl-c-headers
COPY ./userspace/root/usr/lib/aarch64-linux-gnu/libOpenCL.so* /usr/lib/aarch64-linux-gnu/
COPY ./userspace/root/usr/lib/aarch64-linux-gnu/libcutils.so* /usr/lib/aarch64-linux-gnu/
COPY ./userspace/root/usr/lib/aarch64-linux-gnu/liblog.so* /usr/lib/aarch64-linux-gnu/
COPY ./userspace/power_burn_max.c /tmp/agnos/
RUN gcc -O2 -o /tmp/power_burn_max /tmp/agnos/power_burn_max.c \
    -lOpenCL -lpthread -ldl

# ################## #
# ###### 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

# ################### #
# ###### AGNOS ###### #
# ################### #
FROM agnos-base

# Hardware rootfs overlay
COPY ./userspace/root/etc/ /etc/
COPY ./userspace/root/lib/ /usr/lib/
COPY ./userspace/root/home/ /home/
COPY ./userspace/root/sbin/ /usr/sbin/
COPY ./userspace/root/system/ /system/
COPY ./userspace/root/usr/ /usr/
RUN mkdir -p /dsp /firmware /persist /data /cache /rwtmp

COPY --from=agnos-compiler-libqmi /tmp/libqmi.deb /tmp/
COPY --from=agnos-compiler-modemmanager /tmp/modemmanager.deb /tmp/

RUN cd /tmp && \
    apt-get update && \
    apt-get install -yq --no-install-recommends \
    python3 \
    python3-dev \
    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 \
    libwayland-client0 \
    libwayland-server0 \
    polkitd \
    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

ARG XDG_DATA_HOME="/usr/local"

# Install openpilot python packages
COPY ./userspace/uv /tmp/agnos/uv
RUN source $XDG_DATA_HOME/venv/bin/activate && \
    cd /tmp/agnos/uv && \
    MAKEFLAGS="-j$(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

RUN chown -R $USERNAME: /home/$USERNAME/.config
RUN rm -rf /root/.config && ln -s /home/$USERNAME/.config /root/.config

RUN chmod 644 /etc/logrotate.conf
RUN touch -r /lib/systemd/systemd /etc/fstab

# Install kernel headers
COPY ./output/linux-headers/include/ /usr/include/

COPY --from=agnos-compiler-power-burn /tmp/power_burn_max /home/$USERNAME/power_burn_max
RUN chown $USERNAME: /home/$USERNAME/power_burn_max

COPY ./userspace/irsc_util.c /tmp/agnos/
RUN gcc -O2 -Wall -Wextra -o /usr/bin/irsc_util /tmp/agnos/irsc_util.c

# 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/root/etc/update-motd.d/* /etc/update-motd.d/

RUN chmod 600 /usr/lib/NetworkManager/system-connections/*.nmconnection

# Prefer ipv4 over ipv6
RUN echo "precedence ::ffff:0:0/96 100" >> /etc/gai.conf

# 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

# Setup hostname resolution for our custom hostname
RUN sed -i 's/hosts:          files dns myhostname/hosts:          files myhostname dns/g' /etc/nsswitch.conf

# keep this last
RUN ldconfig

# Setup RO rootfs
RUN mkdir -p /rwtmp
RUN mkdir -p /tmptmp
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

# ################# #
# #### Cleanup #### #
# ################# #

RUN rm -rf /usr/share/icons/* && \
    rm -rf /var/lib/apt/lists/* && \
    rm -rf /home/$USERNAME/.cache && \
    rm -rf /root/.cache && \
    apt-get clean