From 8868ca2a35307c2057a02ba621687f410fda7146 Mon Sep 17 00:00:00 2001
From: EricX-Zhao <ericzhao0325@163.com>
Date: Sat, 11 Jul 2026 20:29:12 +0300
Subject: [PATCH] Switch RK3576 toolchain to Buildroot SDK and migrate to
 Python 3.10

---
 cross_compile/cc_base.Dockerfile              |  2 +-
 cross_compile/rk3576/cc_rk3576.Dockerfile     | 16 +++----
 cross_compile/rk3576/rk3576.toolchain.cmake   |  9 ++--
 .../ros2/lyrical/ros_lyrical.Dockerfile       | 45 +++++++++++--------
 .../vendor/vendor_packages.Dockerfile         | 17 +++----
 5 files changed, 47 insertions(+), 42 deletions(-)

diff --git a/cross_compile/cc_base.Dockerfile b/cross_compile/cc_base.Dockerfile
index 08d1b41..0c9367a 100644
--- a/cross_compile/cc_base.Dockerfile
+++ b/cross_compile/cc_base.Dockerfile
@@ -35,5 +35,5 @@ RUN apt update && apt install -y \
     python3-future \
     python3-lark \
     python3-argcomplete \
-    autoconf automake libtool patchelf ninja-build python3.10-venv python3.11 python3.11-dev \
+    autoconf automake libtool patchelf ninja-build python3.10-venv \
     ros-dev-tools
diff --git a/cross_compile/rk3576/cc_rk3576.Dockerfile b/cross_compile/rk3576/cc_rk3576.Dockerfile
index 3aa5434..929d02c 100644
--- a/cross_compile/rk3576/cc_rk3576.Dockerfile
+++ b/cross_compile/rk3576/cc_rk3576.Dockerfile
@@ -10,20 +10,20 @@ COPY rk3576/aarch64-buildroot-linux-gnu_sdk-buildroot.tar.gz /opt/
 RUN tar -zxf aarch64-buildroot-linux-gnu_sdk-buildroot.tar.gz \
 && rm /opt/aarch64-buildroot-linux-gnu_sdk-buildroot.tar.gz
 
-# use python3.11
-RUN update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.10 1 \
-    && update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.11 2 \
-    && update-alternatives --set python3 /usr/bin/python3.11 \
-    && rm -f /usr/bin/python3-config \
-    && ln -s /usr/bin/python3.11-config /usr/bin/python3-config
-
 COPY rk3576/rk3576.toolchain.cmake /opt/cmake/
 
 ENV CC_TOOLCHAIN_FILE=/opt/cmake/rk3576.toolchain.cmake
 
 ENV TARGET_SYSROOT=/opt/rk3576
 ENV PATH="${PATH}:/opt/aarch64-buildroot-linux-gnu_sdk-buildroot/bin"
-ENV PYTHON_PKG_PATH=${TARGET_SYSROOT}/lib/python3.11/site-packages
+ENV PYTHON_PKG_PATH=${TARGET_SYSROOT}/lib/python3.10/site-packages
+ENV CC=aarch64-buildroot-linux-gnu-gcc \
+    CXX=aarch64-buildroot-linux-gnu-g++ \
+    AR=aarch64-buildroot-linux-gnu-ar \
+    RANLIB=aarch64-buildroot-linux-gnu-ranlib \
+    HOSTARCH=aarch64-buildroot-linux-gnu \
+    BUILDARCH=x86_64-linux-gnu
+    
 
 ARG BUILD_JOBS=6
 ENV MAKEFLAGS="-j${BUILD_JOBS}"
diff --git a/cross_compile/rk3576/rk3576.toolchain.cmake b/cross_compile/rk3576/rk3576.toolchain.cmake
index b39f51d..f682f7a 100644
--- a/cross_compile/rk3576/rk3576.toolchain.cmake
+++ b/cross_compile/rk3576/rk3576.toolchain.cmake
@@ -15,10 +15,10 @@ add_link_options($<$<CONFIG:Release>:-s>)
 add_link_options("LINKER:-rpath-link,$ENV{TARGET_SYSROOT}/lib")
 
 # use buildroot sdk python3.11
-set(Python3_EXECUTABLE /usr/bin/python3.11)
-set(Python3_INCLUDE_DIR ${CMAKE_SYSROOT}/usr/include/python3.11)
-set(Python3_LIBRARY ${CMAKE_SYSROOT}/usr/lib/libpython3.11.so)
-set(Python3_NumPy_INCLUDE_DIR ${CMAKE_SYSROOT}/usr/lib/python3.11/site-packages/numpy/core/include)
+set(Python3_EXECUTABLE /usr/bin/python3.10)
+# set(Python3_INCLUDE_DIR ${CMAKE_SYSROOT}/usr/include/python3.11)
+# set(Python3_LIBRARY ${CMAKE_SYSROOT}/usr/lib/libpython3.11.so)
+set(Python3_NumPy_INCLUDE_DIR $ENV{TARGET_SYSROOT}/lib/python3.10/site-packages/numpy/core/include)
 
 # use cross compile packages
 set(LZ4_INCLUDE_DIR $ENV{TARGET_SYSROOT}/include)
@@ -27,3 +27,4 @@ set(flann_DIR $ENV{TARGET_SYSROOT}/lib/cmake/flann)
 set(FLANN_INCLUDE_DIR $ENV{TARGET_SYSROOT}/include)
 set(FLANN_LIBRARY $ENV{TARGET_SYSROOT}/lib/libflann.so)
 set(yaml-cpp_DIR $ENV{TARGET_SYSROOT}/lib/cmake/yaml-cpp)
+set(OpenCV_DIR $ENV{TARGET_SYSROOT}/lib/cmake/opencv4)
diff --git a/cross_compile/ros2/lyrical/ros_lyrical.Dockerfile b/cross_compile/ros2/lyrical/ros_lyrical.Dockerfile
index 81d8d1b..1ad8118 100644
--- a/cross_compile/ros2/lyrical/ros_lyrical.Dockerfile
+++ b/cross_compile/ros2/lyrical/ros_lyrical.Dockerfile
@@ -23,8 +23,7 @@ COPY --from=vendor_images ${TARGET_SYSROOT} ${TARGET_SYSROOT}
 COPY ros2/${ROS_DISTRO}/patch /workspace/patch
 COPY ros2/ros_cpp /workspace/src/ros_cpp
 
-# COPY rk3576/rk3576.toolchain.cmake /opt/cmake/
-# RUN python3.11 -m pip install lark
+COPY rk3576/rk3576.toolchain.cmake /opt/cmake/
 
 # apply patch
 RUN patch -p1 -d /workspace/src/ros2/rclcpp < /workspace/patch/memory_strategy.patch
@@ -51,26 +50,13 @@ RUN MAKEFLAGS="-j6" colcon build \
     -DTRACETOOLS_DISABLED=ON \
     -DCV_BRIDGE_DISABLE_PYTHON=ON
 
-# pybind11 python soabi issue
-RUN cd ${TARGET_SYSROOT}/lib/python3.11/site-packages/rclpy \
-    mv _rclpy_pybind11.cpython-311-x86_64-linux-gnu.so _rclpy_pybind11.cpython-311-aarch64-linux-gnu.so
-RUN cd ${TARGET_SYSROOT}/lib/python3.11/site-packages/rosbag2_py \
-    && mv _transport.cpython-311-x86_64-linux-gnu.so _transport.cpython-311-aarch64-linux-gnu.so \
-    && mv _info.cpython-311-x86_64-linux-gnu.so _info.cpython-311-aarch64-linux-gnu.so \
-    && mv _compression_options.cpython-311-x86_64-linux-gnu.so _compression_options.cpython-311-aarch64-linux-gnu.so \
-    && mv _storage.cpython-311-x86_64-linux-gnu.so _storage.cpython-311-aarch64-linux-gnu.so \
-    && mv _reindexer.cpython-311-x86_64-linux-gnu.so _reindexer.cpython-311-aarch64-linux-gnu.so \
-    && mv _writer.cpython-311-x86_64-linux-gnu.so _writer.cpython-311-aarch64-linux-gnu.so \
-    && mv _message_definitions.cpython-311-x86_64-linux-gnu.so _message_definitions.cpython-311-aarch64-linux-gnu.so \
-    && mv _reader.cpython-311-x86_64-linux-gnu.so _reader.cpython-311-aarch64-linux-gnu.so
-RUN cd ${TARGET_SYSROOT}/lib/python3.11/site-packages/rosidl_buffer \
-    && mv _rosidl_buffer_py.cpython-311-x86_64-linux-gnu.so _rosidl_buffer_py.cpython-311-aarch64-linux-gnu.so 
-
 FROM ${CC_PLATFORM_IMAGE} AS rmw_zenoh_builder
 ARG ROS_ROOT
 ENV ROS_ROOT=${ROS_ROOT}
 COPY --from=ros_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}
 
+RUN python3.10 -m pip install numpy==1.21.5
+
 # rust install 
 RUN curl https://sh.rustup.rs -sSf | sh -s -- -y
 RUN . "$HOME/.cargo/env"  \
@@ -82,7 +68,14 @@ RUN mkdir rmw_zenoh_ws/src -p  \
     && cd rmw_zenoh_ws/src \
     && git clone --depth=1 -b lyrical https://github.com/ros2/rmw_zenoh.git
 
-ENV CARGO_TARGET_AARCH64_UNKNOWN_LINUX_GNU_LINKER=aarch64-buildroot-linux-gnu-gcc
+# --- 给 cargo/cc-rs 补上明确的区分 ---
+ENV CARGO_TARGET_AARCH64_UNKNOWN_LINUX_GNU_LINKER=aarch64-buildroot-linux-gnu-gcc \
+    CC_aarch64_unknown_linux_gnu=aarch64-buildroot-linux-gnu-gcc \
+    CXX_aarch64_unknown_linux_gnu=aarch64-buildroot-linux-gnu-g++ \
+    AR_aarch64_unknown_linux_gnu=aarch64-buildroot-linux-gnu-ar \
+    HOST_CC=gcc \
+    HOST_CXX=g++ \
+    HOST_AR=ar
 
 RUN . "$HOME/.cargo/env" \
     && . ${TARGET_SYSROOT}/local_setup.sh \
@@ -109,4 +102,20 @@ ARG ROS_ROOT
 ENV ROS_ROOT=${ROS_ROOT}
 COPY --from=rmw_zenoh_builder ${TARGET_SYSROOT} ${ROS_ROOT}
 ENV TARGET_SYSROOT=${ROS_ROOT}
+
+# pybind11 python soabi issue
+RUN cd ${ROS_ROOT}/lib/python3.10/site-packages/rclpy \
+    && mv _rclpy_pybind11.cpython-310-x86_64-linux-gnu.so _rclpy_pybind11.cpython-310-aarch64-linux-gnu.so
+RUN cd ${ROS_ROOT}/lib/python3.10/site-packages/rosbag2_py \
+    && mv _transport.cpython-310-x86_64-linux-gnu.so _transport.cpython-310-aarch64-linux-gnu.so \
+    && mv _info.cpython-310-x86_64-linux-gnu.so _info.cpython-310-aarch64-linux-gnu.so \
+    && mv _compression_options.cpython-310-x86_64-linux-gnu.so _compression_options.cpython-310-aarch64-linux-gnu.so \
+    && mv _storage.cpython-310-x86_64-linux-gnu.so _storage.cpython-310-aarch64-linux-gnu.so \
+    && mv _reindexer.cpython-310-x86_64-linux-gnu.so _reindexer.cpython-310-aarch64-linux-gnu.so \
+    && mv _writer.cpython-310-x86_64-linux-gnu.so _writer.cpython-310-aarch64-linux-gnu.so \
+    && mv _message_definitions.cpython-310-x86_64-linux-gnu.so _message_definitions.cpython-310-aarch64-linux-gnu.so \
+    && mv _reader.cpython-310-x86_64-linux-gnu.so _reader.cpython-310-aarch64-linux-gnu.so
+RUN cd ${ROS_ROOT}/lib/python3.10/site-packages/rosidl_buffer \
+    && mv _rosidl_buffer_py.cpython-310-x86_64-linux-gnu.so _rosidl_buffer_py.cpython-310-aarch64-linux-gnu.so 
+
 WORKDIR /workspace
diff --git a/cross_compile/vendor/vendor_packages.Dockerfile b/cross_compile/vendor/vendor_packages.Dockerfile
index 4e00c2c..cde19aa 100644
--- a/cross_compile/vendor/vendor_packages.Dockerfile
+++ b/cross_compile/vendor/vendor_packages.Dockerfile
@@ -63,7 +63,7 @@ RUN wget https://archives.boost.io/release/1.83.0/source/boost_1_83_0.tar.gz
 RUN tar -zxf boost_1_83_0.tar.gz \
     && cd boost_1_83_0 \
     && ./bootstrap.sh --prefix=${TARGET_SYSROOT} --without-libraries=python \
-    && sed -i "/using gcc/c using gcc : arm64 : aarch64-buildroot-linux-gnu-gcc ;" project-config.jam \
+    && sed -i "/using gcc/c using gcc : arm64 : ${CC} ;" project-config.jam \
     && ./b2 cxxflags="-fPIC" cflags="-fPIC" link=static install
 
 FROM ${CC_PLATFORM_IMAGE} AS pcl_vendor
@@ -106,7 +106,7 @@ FROM ${CC_PLATFORM_IMAGE} AS ffi_builder
 RUN git clone --depth=1 https://github.com/libffi/libffi.git \
     && cd libffi \
     && ./autogen.sh \
-    && ./configure --host=aarch64-none-linux-gnu --build=x86_64-linux-gnu --disable-docs --prefix=${TARGET_SYSROOT} \
+    && ./configure --host=${HOSTARCH} --build=x86_64-linux-gnu --disable-docs --prefix=${TARGET_SYSROOT} \
     && make -j$(nproc) && make install
 
 # Python 3.12
@@ -125,12 +125,6 @@ RUN wget https://www.python.org/ftp/python/3.10.12/Python-3.10.12.tar.xz \
 
 # 配置和编译 Python
 WORKDIR /tmp/Python-3.10.12
-ENV CC=aarch64-none-linux-gnu-gcc \
-    CXX=aarch64-none-linux-gnu-g++ \
-    AR=aarch64-none-linux-gnu-ar \
-    RANLIB=aarch64-none-linux-gnu-ranlib \
-    HOSTARCH=aarch64-none-linux-gnu \
-    BUILDARCH=x86_64-linux-gnu
 
 ENV CPPFLAGS="-I${TARGET_SYSROOT}/include" \
     LDFLAGS="-L${TARGET_SYSROOT}/lib -Wl,-rpath-link=${TARGET_SYSROOT}/lib" \
@@ -140,7 +134,7 @@ ENV CPPFLAGS="-I${TARGET_SYSROOT}/include" \
     PKG_CONFIG_SYSROOT_DIR="${TARGET_SYSROOT}"
 
 RUN ./configure \
-    --host=aarch64-none-linux-gnu \
+    --host=${HOSTARCH} \
     --build=x86_64-linux-gnu \
     --prefix=${TARGET_SYSROOT} \
     --disable-ipv6 \
@@ -177,12 +171,12 @@ RUN pip download --no-deps -d /wheels \
 RUN pip download \
     --no-deps \
     --only-binary=:all: \
-    --python-version 311 \
+    --python-version 310 \
     --implementation cp \
     --abi cp310 \
     --platform manylinux2014_aarch64 \
     -d /wheels \
-    psutil
+    psutil numpy==1.21.5
 
 RUN chmod +x /tmp/extract_wheels.sh && \
     /tmp/extract_wheels.sh "${PYTHON_PKG_PATH}" /wheels
@@ -193,4 +187,5 @@ COPY --from=system_packages ${TARGET_SYSROOT} ${TARGET_SYSROOT}
 COPY --from=ceres_vendor ${TARGET_SYSROOT} ${TARGET_SYSROOT}
 COPY --from=opencv_vendor ${TARGET_SYSROOT} ${TARGET_SYSROOT}
 COPY --from=pcl_vendor ${TARGET_SYSROOT} ${TARGET_SYSROOT}
+COPY --from=python_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}
 COPY --from=python_pkg_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}