Dockerfile.agnos

# check=error=true

# ################## #
# ###### Base ###### #
# ################## #
FROM scratch AS agnos-base
ADD ubuntu-base-24.04-base-arm64.tar.gz /

# Build folder
RUN mkdir -p /tmp/agnos

# Stop on error
RUN set -xe

ARG USERNAME=comma

# Restore apt cache
COPY ./cache/var_lib_apt/lists /var/lib/apt/lists
COPY ./cache/var_cache_apt/archives /var/cache/apt/archives

# 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

# ################## #
# #### Compiler #### #
# ################## #
FROM agnos-base AS agnos-compiler

RUN apt-fast install --no-install-recommends -yq checkinstall

# Individual compiling images
FROM agnos-compiler AS agnos-compiler-pyqt5
COPY ./userspace/compile-pyqt5.sh /tmp/agnos/
RUN /tmp/agnos/compile-pyqt5.sh

FROM agnos-compiler AS agnos-compiler-capnp
COPY ./userspace/compile-capnp.sh /tmp/agnos/
RUN /tmp/agnos/compile-capnp.sh

FROM agnos-compiler AS agnos-compiler-ffmpeg
COPY ./userspace/compile-ffmpeg.sh /tmp/agnos/
RUN /tmp/agnos/compile-ffmpeg.sh

FROM agnos-compiler AS agnos-compiler-qtwayland5
COPY ./userspace/compile-qtwayland5.sh /tmp/agnos/
COPY ./userspace/qtwayland/patch* /tmp/agnos/
RUN /tmp/agnos/compile-qtwayland5.sh

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

# 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/*

# Build ModemManager
COPY ./userspace/compile-modemmanager.sh /tmp/agnos/
RUN /tmp/agnos/compile-modemmanager.sh

# 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

# Use pre-compiled PyQt5 wheel
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

RUN export PATH="/usr/local/pyenv/bin:/usr/local/pyenv/shims:$PATH" && \
    export PYENV_ROOT="/usr/local/pyenv" && \
    eval "$(pyenv init -)" && \
    eval "$(pyenv virtualenv-init -)" && \
    export MAKEFLAGS="-j$(nproc)" && \
    pip install pyqt5-sip==12.12.1 && \
    pip install /tmp/PyQt5-5.15.9-cp38-abi3-manylinux_2_17_aarch64.whl --verbose --config-settings --confirm-license= && \
    pyenv rehash

# Install openpilot python packages
RUN mkdir -p /tmp/agnos/uv
COPY ./userspace/pyproject.toml ./userspace/uv.lock /tmp/agnos/uv
RUN export PATH="/usr/local/pyenv/bin:/usr/local/pyenv/shims:$PATH" && \
    export PYENV_ROOT="/usr/local/pyenv" && \
    eval "$(pyenv init -)" && \
    eval "$(pyenv virtualenv-init -)" && \
    cd /tmp/agnos/uv && \
    export PYOPENCL_CL_PRETEND_VERSION="2.0" && \
    MAKEFLAGS="-j$(nproc)" UV_NO_CACHE=1 uv pip install --no-cache-dir --system . && \
    pyenv rehash

# 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/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/ethernet.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

# 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

# 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 from arm-none-eabi
RUN cd /usr/lib/gcc/arm-none-eabi/* && \
    rm -rf arm/ && \
    rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp

# keep this last
RUN ldconfig

FROM agnos AS agnos-final

# 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