mirror of
https://github.com/commaai/agnos-builder.git
synced 2026-10-27 00:23:47 +08:00
Adeeb Shihadeh
231 lines
8.8 KiB
Docker
231 lines
8.8 KiB
Docker
# check=error=true
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# ################## #
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# ### Package ##### #
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# ### Compilation ## #
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# ################## #
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FROM ubuntu:24.04 AS agnos-compiler
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RUN apt-get update && apt-get install -yq --no-install-recommends build-essential
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# ADB daemon using the Android libraries already installed for Ubuntu's adb client.
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FROM agnos-compiler AS agnos-compiler-adbd
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RUN apt-get update && apt-get install -yq --no-install-recommends \
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ca-certificates curl clang android-libbase-dev android-libcutils-dev android-liblog-dev \
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android-libboringssl-dev libbrotli-dev libcap-dev liblz4-dev libprotobuf-dev protobuf-compiler \
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libsystemd-dev libzstd-dev
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COPY ./userspace/build_adbd.sh ./userspace/adbd-linux.patch /tmp/agnos/
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RUN /tmp/agnos/build_adbd.sh
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# Qualcomm graphics without Wayland or OpenCL runtime dependencies
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FROM agnos-compiler AS agnos-compiler-graphics
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RUN apt-get update && apt-get install -yq --no-install-recommends patchelf
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COPY ./userspace/graphics/ /tmp/agnos/graphics-src/
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RUN mkdir -p /tmp/agnos/graphics && \
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cp /tmp/agnos/graphics-src/libgbm.so /tmp/agnos/graphics/ && \
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cp /tmp/agnos/graphics-src/libeglSubDriverWayland.so.patched /tmp/agnos/graphics/libeglSubDriverWayland.so && \
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cd /tmp/agnos/graphics && \
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gcc -shared -fPIC -Os -s -Wall -Wextra -Werror -Wl,-z,defs -Wl,-z,relro,-z,now \
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-Wl,-soname,libagnos-wayland-stubs.so -o libagnos-wayland-stubs.so /tmp/agnos/graphics-src/stubs.c && \
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gcc -shared -fPIC -Os -s -Wall -Wextra -Werror -Wl,-z,defs -Wl,-z,relro,-z,now \
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-Wl,-soname,libCB.so -o libCB.so /tmp/agnos/graphics-src/opencl_stubs.c && \
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nm -D --defined-only libagnos-wayland-stubs.so | \
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awk '$3 ~ /^agnos_/ { name = $3; sub(/^agnos_/, "", name); print name, $3 }' > /tmp/agnos/graphics-symbols.map && \
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for lib in libgbm.so libeglSubDriverWayland.so; do \
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patchelf --rename-dynamic-symbols /tmp/agnos/graphics-symbols.map \
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--remove-needed libwayland-client.so.0 --remove-needed libwayland-server.so.0 \
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--remove-needed libwayland-egl.so.1 --remove-needed libffi.so.6 \
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--remove-needed libpcre.so.1 \
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--add-needed libagnos-wayland-stubs.so "$lib" || exit 1; \
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done
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# ################## #
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# ###### Base ###### #
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# ################## #
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FROM scratch AS agnos-base
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ENV CC=clang CXX=clang++
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# Add Ubuntu Base image files
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ARG UBUNTU_BASE_IMAGE
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ADD ${UBUNTU_BASE_IMAGE} /
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# Build folder
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RUN mkdir -p /tmp/agnos
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ARG USERNAME=comma
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# Base system setup
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RUN echo "resolvconf resolvconf/linkify-resolvconf boolean false" | debconf-set-selections
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COPY ./userspace/base_setup.sh ./userspace/openpilot_dependencies.sh /tmp/agnos/
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RUN /tmp/agnos/base_setup.sh
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# Install openpilot Python dependencies
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COPY ./userspace/openpilot_python_dependencies.sh /tmp/agnos/
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RUN /tmp/agnos/openpilot_python_dependencies.sh
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# ################### #
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# ###### AGNOS ###### #
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# ################### #
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FROM agnos-base AS agnos
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COPY --from=agnos-compiler-adbd /tmp/agnos/adbd /usr/comma/adbd
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COPY --from=agnos-compiler-adbd /tmp/adbd-build/packages/modules/adb/NOTICE /usr/share/doc/adbd/NOTICE
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COPY --from=agnos-compiler-graphics /tmp/agnos/graphics/ /usr/lib/aarch64-linux-gnu/
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# modem.service runs the packaged modem.py (AT + IPv4 PPP).
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# NetworkManager still requires libmm-glib0 for Wi-Fi/Ethernet operation.
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RUN apt-get update && \
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apt-get install -yq --no-install-recommends \
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python3 \
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python3-dev \
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libglib2.0-dev \
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libc6 \
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libglib2.0-0t64 \
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libgudev-1.0-0 \
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libmm-glib0 \
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libpolkit-gobject-1-0 \
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libsystemd0 \
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android-liblog \
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libjson-c5 \
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patchelf \
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polkitd && \
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test ! -e /lib/systemd/system/ModemManager.service
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ARG XDG_DATA_HOME="/usr/local"
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# Install openpilot python packages
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COPY ./userspace/uv /tmp/agnos/uv
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RUN source $XDG_DATA_HOME/venv/bin/activate && \
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cd /tmp/agnos/uv && \
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MAKEFLAGS="-j$(nproc)" UV_NO_CACHE=1 UV_PROJECT_ENVIRONMENT=$XDG_DATA_HOME/venv uv sync --frozen --inexact --compile-bytecode \
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--no-install-package msgq \
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--no-install-package opendbc \
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--no-install-package pandacan \
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--no-install-package rednose \
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--no-install-package teleoprtc \
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--no-install-package tinygrad
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# Install nice to haves
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COPY ./userspace/install_extras.sh /tmp/agnos/
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RUN /tmp/agnos/install_extras.sh
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RUN /usr/comma/adbd --version
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# Root filesystem overlay, all files at their final paths.
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# tar keeps the ownership and permissions of existing directories, COPY resets them.
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# --mode=go-w makes the result independent of the umask of the checkout.
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RUN rm -r /etc/update-motd.d/*
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RUN --mount=type=bind,source=userspace/root,target=/tmp/agnos/root \
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set -o pipefail && \
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tar -C /tmp/agnos/root --owner=0 --group=0 --mode=go-w -cf - . | tar -C / --no-overwrite-dir -xf -
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COPY ./userspace/root/home/$USERNAME/.config/ /root/.config
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# These vendor libraries retain unused PCRE dependencies from their original GLib build.
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RUN cd /usr/lib/aarch64-linux-gnu && \
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for lib in libdiag.so.1 libconfigdb.so.0 libqmi_cci.so.1 libxml.so.0 libqmi_client_qmux.so.1 libdsutils.so.1; do \
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patchelf --remove-needed libpcre.so.1 "$lib" || exit 1; \
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done && \
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patchelf --replace-needed libjson-c.so.2 libjson-c.so.5 /usr/bin/pdmappersvc && \
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apt-get purge -y patchelf
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RUN chown -R $USERNAME: /home/$USERNAME
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RUN touch -r /lib/systemd/systemd /etc/fstab
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COPY ./output/linux-headers/include/ /usr/include/
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COPY ./userspace/irsc_util.c /tmp/agnos/
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RUN clang -O2 -Wall -Wextra -Werror -o /usr/bin/irsc_util /tmp/agnos/irsc_util.c && rm /tmp/agnos/irsc_util.c
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COPY ./userspace/power_burn/power_burn_max.c /tmp/agnos/
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RUN clang -O2 -o /home/$USERNAME/power_burn_max /tmp/agnos/power_burn_max.c \
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-lpthread && rm /tmp/agnos/power_burn_max.c \
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&& chown $USERNAME: /home/$USERNAME/power_burn_max
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# Setup systemd services
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COPY ./userspace/services.sh /tmp/agnos
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RUN /tmp/agnos/services.sh
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# Prefer ipv4 over ipv6
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RUN echo "precedence ::ffff:0:0/96 100" >> /etc/gai.conf
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# Block incoming cellular traffic, including modem.py's PPP interface.
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# The SDM845 kernel supports xtables, not Ubuntu's default nftables backend.
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RUN update-alternatives --set iptables /usr/sbin/iptables-legacy && \
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update-alternatives --set ip6tables /usr/sbin/ip6tables-legacy
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# Setup hostname resolution for our custom hostname
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RUN sed -i 's/hosts: files dns myhostname/hosts: files myhostname dns/g' /etc/nsswitch.conf
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COPY ./userspace/trim.sh /tmp/agnos/
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RUN /tmp/agnos/trim.sh
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# keep this last
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RUN ldconfig
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# ldconfig rewrites these SONAME links back to Mesa; raylib COMMA needs Adreno.
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RUN cd /usr/lib/aarch64-linux-gnu && \
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test -f libEGL_adreno.so && \
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test -f libGLESv2_adreno.so && \
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install -m 755 libgbm.so /tmp/libgbm_adreno.so && \
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ln -sf libEGL_adreno.so libEGL.so.1 && \
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ln -sf libGLESv2_adreno.so libGLESv2.so.2 && \
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rm -f libgbm.so.1 && \
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mv /tmp/libgbm_adreno.so libgbm.so.1
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# Setup RO rootfs
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RUN mkdir -p /rwtmp
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RUN mkdir -p /tmptmp
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COPY ./userspace/readonly_setup.sh /tmptmp/readonly_setup.sh
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RUN /tmptmp/readonly_setup.sh && rm -rf /tmptmp
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# copy version file
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COPY VERSION /VERSION
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# ################# #
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# #### Cleanup #### #
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# ################# #
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RUN rm -rf /usr/share/icons/* && \
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rm -rf /var/lib/apt/lists/* && \
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rm -rf /home/$USERNAME/.cache && \
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rm -rf /root/.cache && \
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apt-get clean
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# ################## #
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# ##### Image ###### #
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# ################## #
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# Build the system image in BuildKit, so only the sparse image leaves the builder.
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FROM --platform=$BUILDPLATFORM ubuntu:20.04 AS agnos-image-tools
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RUN apt-get update && \
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apt-get install -yq --no-install-recommends \
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android-sdk-libsparse-utils \
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e2fsprogs \
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libcap2-bin \
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zstd \
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&& rm -rf /var/lib/apt/lists/*
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FROM agnos-image-tools AS agnos-image-build
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# the partition is 10G, but openpilot's updater didn't always handle the full size
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# openpilot fix, shipped in 0.9.8 (8/18/24): https://github.com/commaai/openpilot/pull/33320
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# Package-install helpers expand the read-only rootfs before writing.
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ARG ROOTFS_IMAGE_SIZE=2048M
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ARG GIT_HASH
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ARG BUILD_DATETIME
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# Compress the image for remote builders, where the download is the bottleneck
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ARG ZSTD
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# These files are bind mounted in containers, so they can only be set here.
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RUN --mount=type=bind,from=agnos,target=/rootfs,rw \
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cd /rootfs && \
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ln -sf /proc/sys/kernel/hostname etc/hostname && \
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printf "127.0.0.1 localhost.localdomain localhost\n127.0.0.1 comma\n" > etc/hosts && \
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ln -sf /run/systemd/resolve/stub-resolv.conf etc/resolv.conf && \
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setcap cap_net_raw+ep bin/ping && \
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printf "%s\n%s\n" "$GIT_HASH" "$BUILD_DATETIME" > BUILD && \
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mkdir /out && \
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mkfs.ext4 -q -d /rootfs /tmp/system.img $ROOTFS_IMAGE_SIZE && \
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img2simg /tmp/system.img /out/system.img && \
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rm /tmp/system.img && \
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if [ -n "$ZSTD" ]; then zstd -q -T0 -9 --rm /out/system.img; fi
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FROM scratch AS agnos-image
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COPY --from=agnos-image-build /out/ /
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