mirror of
https://github.com/commaai/agnos-builder.git
synced 2026-07-09 16:52:05 +08:00
Robin Reckmann
226 lines
8.2 KiB
Docker
226 lines
8.2 KiB
Docker
# check=error=true
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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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ADD ubuntu-base-24.04-base-arm64.tar.gz /
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# Build folder
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RUN mkdir -p /tmp/agnos
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# Stop on error
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RUN set -xe
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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 /tmp/agnos
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RUN /tmp/agnos/base_setup.sh
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# Install openpilot dependencies
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COPY ./userspace/openpilot_dependencies.sh /tmp/agnos/
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RUN /tmp/agnos/openpilot_dependencies.sh
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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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# Install old Qt 5.12.8, libwayland 1.9.0-1 and deps
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COPY ./userspace/qtwayland/*.deb /tmp/agnos/
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RUN apt-get -o Dpkg::Options::="--force-overwrite" install -yq \
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/tmp/agnos/qt-5.12.8.deb \
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/tmp/agnos/libwayland-1.9.0-1.deb \
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/tmp/agnos/libicu66_66.1-2ubuntu2.1_arm64.deb \
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/tmp/agnos/libssl1.1_1.1.1f-1ubuntu2.22_arm64.deb \
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/tmp/agnos/libffi6_3.2.1-8_arm64.deb
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# ################## #
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# #### Compiler #### #
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# ################## #
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FROM agnos-base AS agnos-compiler
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RUN apt-fast update && apt-fast install --no-install-recommends -yq checkinstall
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# Individual compiling images
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FROM agnos-compiler AS agnos-compiler-pyqt5
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COPY ./userspace/compile-pyqt5.sh /tmp/agnos/
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RUN /tmp/agnos/compile-pyqt5.sh
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FROM agnos-compiler AS agnos-compiler-capnp
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COPY ./userspace/compile-capnp.sh /tmp/agnos/
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RUN /tmp/agnos/compile-capnp.sh
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FROM agnos-compiler AS agnos-compiler-ffmpeg
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COPY ./userspace/compile-ffmpeg.sh /tmp/agnos/
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RUN /tmp/agnos/compile-ffmpeg.sh
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FROM agnos-compiler AS agnos-compiler-qtwayland5
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COPY ./userspace/compile-qtwayland5.sh /tmp/agnos/
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COPY ./userspace/qtwayland/patch* /tmp/agnos/
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RUN /tmp/agnos/compile-qtwayland5.sh
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# ################### #
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# ###### AGNOS ###### #
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# ################### #
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FROM agnos-base
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# Hardware setup
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RUN mkdir -p /tmp/agnos/debs
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COPY ./userspace/debs /tmp/agnos/debs
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COPY ./userspace/hardware_setup.sh /tmp/agnos
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RUN /tmp/agnos/hardware_setup.sh
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RUN mv /data/persist /system/ && rm -rf /data/*
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# Build ModemManager
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COPY ./userspace/compile-modemmanager.sh /tmp/agnos/
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RUN /tmp/agnos/compile-modemmanager.sh
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# Pre-compiled capnp (must be before python install)
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COPY --from=agnos-compiler-capnp /tmp/capnproto.deb /tmp/capnproto.deb
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RUN cd /tmp && apt-get -o Dpkg::Options::="--force-overwrite" install -yq ./capnproto.deb
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# Use other pre-compiled packages
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COPY --from=agnos-compiler-ffmpeg /tmp/ffmpeg.deb /tmp/ffmpeg.deb
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RUN cd /tmp && apt-get -o Dpkg::Options::="--force-overwrite" install -yq ./ffmpeg.deb
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# Use pre-compiled PyQt5 wheel
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COPY --from=agnos-compiler-pyqt5 /tmp/PyQt5-5.15.9/PyQt5-5.15.9-cp38-abi3-manylinux_2_17_aarch64.whl /tmp/PyQt5-5.15.9-cp38-abi3-manylinux_2_17_aarch64.whl
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RUN export PATH="/usr/local/pyenv/bin:/usr/local/pyenv/shims:$PATH" && \
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export PYENV_ROOT="/usr/local/pyenv" && \
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eval "$(pyenv init -)" && \
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eval "$(pyenv virtualenv-init -)" && \
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export MAKEFLAGS="-j$(nproc)" && \
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pip install pyqt5-sip==12.12.1 && \
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pip install /tmp/PyQt5-5.15.9-cp38-abi3-manylinux_2_17_aarch64.whl --verbose --config-settings --confirm-license= && \
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pyenv rehash
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# Install openpilot python packages
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RUN mkdir -p /tmp/agnos/uv
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COPY ./userspace/pyproject.toml ./userspace/uv.lock /tmp/agnos/uv
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RUN export PATH="/usr/local/pyenv/bin:/usr/local/pyenv/shims:$PATH" && \
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export PYENV_ROOT="/usr/local/pyenv" && \
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eval "$(pyenv init -)" && \
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eval "$(pyenv virtualenv-init -)" && \
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cd /tmp/agnos/uv && \
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export PYOPENCL_CL_PRETEND_VERSION="2.0" && \
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MAKEFLAGS="-j$(nproc)" UV_NO_CACHE=1 uv pip install --no-cache-dir --system . && \
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pyenv rehash
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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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COPY --from=agnos-compiler-qtwayland5 /tmp/qtwayland5.deb /tmp/qtwayland5.deb
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RUN cd /tmp && apt-get -o Dpkg::Options::="--force-overwrite" install -yq --allow-downgrades ./qtwayland5.deb
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# Patched libeglSubDriverWayland with fixed nullptr deref in CommitBuffer
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COPY ./userspace/files/libeglSubDriverWayland.so.patched /lib/aarch64-linux-gnu/libeglSubDriverWayland.so
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COPY ./userspace/home/ /home/$USERNAME/
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COPY ./userspace/home/.config/ /root/.config
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RUN chown -R $USERNAME: /home/$USERNAME/.config
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# populate /lib
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COPY ./userspace/files/*.path /lib/systemd/system/
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COPY ./userspace/files/*.mount /lib/systemd/system/
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COPY ./userspace/files/*.service /lib/systemd/system/
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COPY ./userspace/files/*.timer /lib/systemd/system/
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COPY ./userspace/files/serial-getty@ttyMSM0_override.conf /lib/systemd/system/serial-getty@ttyMSM0.service.d/serial-getty@ttyMSM0_override.conf
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COPY ./userspace/files/ssh_override.conf /lib/systemd/system/ssh.service.d/override.conf
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COPY ./userspace/firmware/* /lib/firmware/
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# populate /etc
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COPY ./userspace/files/fstab /etc
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COPY ./userspace/files/profile /etc/profile
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COPY ./userspace/files/ethernet.yaml /etc/netplan/
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COPY ./userspace/files/allow-network-control.pkla /etc/polkit-1/localauthority/50-local.d/allow-network-control.pkla
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COPY ./userspace/files/allow-modem-control.pkla /etc/polkit-1/localauthority/50-local.d/allow-modem-control.pkla
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COPY ./userspace/files/*.rules /etc/udev/rules.d/
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COPY ./userspace/files/ssh*_config /etc/ssh/
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COPY ./userspace/files/logrotate.conf /etc/
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RUN chmod 644 /etc/logrotate.conf
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# populate /usr
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COPY ./userspace/usr/comma/ /usr/$USERNAME/
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COPY ./userspace/usr/share/fonts/* /usr/share/fonts/
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COPY ./userspace/libs/* /usr/lib/aarch64-linux-gnu/
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COPY ./userspace/libs32/* /usr/lib/arm-linux-gnueabihf/
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# kernel headers for the AGNOS kernel (built on device)
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COPY ./userspace/files/linux-headers-4.9.103+_4.9.103+-1_arm64.deb /tmp/
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RUN dpkg -i /tmp/linux-headers-4.9.103+_4.9.103+-1_arm64.deb
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# Weston with hacked touch rotate and color correction
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COPY ./userspace/files/weston /usr/bin/weston
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COPY ./userspace/files/gl-renderer.so /usr/lib/arm-linux-gnueabihf/weston
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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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# MOTD
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RUN rm -r /etc/update-motd.d/*
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COPY --chown=root:root ./userspace/motd/* /etc/update-motd.d/
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# Let NetworkManager manage eth0
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COPY ./userspace/files/10-globally-managed-devices.conf /etc/NetworkManager/conf.d/10-globally-managed-devices.conf
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COPY ./userspace/files/NetworkManager.conf /etc/NetworkManager/NetworkManager.conf
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# Add cellular connections
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COPY ./userspace/files/*.nmconnection /usr/lib/NetworkManager/system-connections/
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RUN chmod 600 /usr/lib/NetworkManager/system-connections/*.nmconnection
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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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# Don't let logind delete /dev/shm
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COPY ./userspace/files/logind.conf /etc/systemd/logind.conf
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# Remove qt network bearer plugins
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RUN rm -rf /usr/lib/aarch64-linux-gnu/qt5/plugins/bearer
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# Add iptable rules to block incoming traffic on wwan0
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COPY ./userspace/etc/iptables/rules.v4 /etc/iptables/rules.v4
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# Run ModemManager in debug mode to allow AT commands
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COPY ./userspace/files/ModemManager.service /lib/systemd/system/
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RUN systemctl enable ModemManager
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# Add more T-Mobile networks to mobile-broadband-provider-info (do we still need the package?)
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COPY ./userspace/files/serviceproviders.xml /usr/share/mobile-broadband-provider-info/serviceproviders.xml
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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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# TODO: move this to base_setup.sh or build gcc from source
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# Remove unused architectures from arm-none-eabi
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RUN cd /usr/lib/gcc/arm-none-eabi/* && \
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rm -rf arm/ && \
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rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
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# keep this last
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RUN ldconfig
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# Setup RO rootfs
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RUN mkdir -p /tmptmp
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COPY ./userspace/files/comma.conf /usr/lib/tmpfiles.d/
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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 at the end, after all apt usage
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COPY ./userspace/files/apt.conf /etc/apt/apt.conf
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# copy version file
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COPY VERSION /VERSION
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# ################## #
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# #### Cleaunup #### #
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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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