Add support for RK3576 platform and restructure vendor packages directory

Comment out the Python3_NumPy_INCLUDE_DIR setting.

build.sh

@@ -7,6 +7,7 @@ set -x
 # ./build.sh -t RK3588 -p "depthai_examples vins_estimator" -b Release 
 # ./build.sh -t RK3588 -p "svo_ros" -b Release 
 # ./build.sh -t DESKTOP -p "ov_core ov_init ov_msckf" -b RelWithDebInfo -l 1
+# ./build.sh -t RK3576 -p "mavros mavros_extras" -b Release
 
 # export WORKSPACE="$(dirname "$(realpath "$BASH_SOURCE")")"
 # export WORKSPACE="$(realpath "$BASH_SOURCE")"
@@ -83,6 +84,13 @@ if [[ "${TARGET_PLATFORM}" = "RK3588" ]]; then
     export ARM_ARCHITECTURE=arm64
 fi
 
+if [[ "${TARGET_PLATFORM}" = "RK3576" ]]; then
+    # in rk3588_dev container
+    TOOLCHAIN_FILE=/opt/cmake/rk3576.toolchain.cmake
+    CMAKE_ARGS+=" -DCMAKE_TOOLCHAIN_FILE=${TOOLCHAIN_FILE}"
+    export ARM_ARCHITECTURE=arm64
+fi
+
 export TARGET=${TARGET_PLATFORM}
 
 INSTALL_DIR=${WORKSPACE}/output/${TARGET_PLATFORM}/install

cross_compile/compose.yaml

@@ -21,7 +21,7 @@ services:
   vendor-packages:
     build:
       context: .
-      dockerfile: vendor_packages/vendor_packages.Dockerfile
+      dockerfile: vendor/vendor_packages.Dockerfile
       args:
         CC_PLATFORM_IMAGE: ${PLATFORM}/cc-toolchain:latest
     image: ${PLATFORM}/cc-vendor-packages:latest

cross_compile/rk3576/rk3576.toolchain.cmake

@@ -23,7 +23,7 @@ list(APPEND CMAKE_FIND_ROOT_PATH
 # add_link_options("LINKER:-rpath-link,$ENV{TARGET_SYSROOT}/lib")
 
 set(Python3_EXECUTABLE /usr/bin/python3)
-set(Python3_NumPy_INCLUDE_DIR $ENV{TARGET_SYSROOT}/lib/python3.10/site-packages/numpy/core/include)
+set(Python3_NumPy_INCLUDE_DIR $ENV{ROS_ROOT}/lib/python3.10/site-packages/numpy/core/include)
 
 set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
 set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)

cross_compile/rk3588/rk3588.toolchain.cmake

@@ -23,7 +23,7 @@ list(APPEND CMAKE_FIND_ROOT_PATH
 # add_link_options("LINKER:-rpath-link,$ENV{TARGET_SYSROOT}/lib")
 
 set(Python3_EXECUTABLE /usr/bin/python3)
-set(Python3_NumPy_INCLUDE_DIR $ENV{TARGET_SYSROOT}/lib/python3.10/site-packages/numpy/core/include)
+set(Python3_NumPy_INCLUDE_DIR $ENV{ROS_ROOT}/lib/python3.10/site-packages/numpy/core/include)
 
 set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
 set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)

cross_compile/ros2/lyrical/ros_lyrical.Dockerfile

@@ -13,12 +13,14 @@ RUN echo "Build ros ${ROS_DISTRO}"
 FROM ${VENDOR_PACKAGES_IMAGE} AS vendor_images
 
 FROM ${CC_PLATFORM_IMAGE} AS ros_builder
-
 ARG ROS_DISTRO
+ARG ROS_ROOT
+ENV ROS_ROOT=${ROS_ROOT}
+
 WORKDIR /workspace
 COPY --from=ros_src /workspace /workspace
-COPY ros2/${ROS_DISTRO}/patch /workspace/patch
 COPY --from=vendor_images ${TARGET_SYSROOT} ${TARGET_SYSROOT}
+COPY ros2/${ROS_DISTRO}/patch /workspace/patch
 COPY ros2/ros_cpp /workspace/src/ros_cpp
 
 # apply patch
@@ -30,7 +32,7 @@ RUN touch src/ros2/geometry2/tf2_bullet/COLCON_IGNORE \
     && touch src/diagnostics/diagnostic_remote_logging/COLCON_IGNORE
 
 # -DPYTHON_SOABI=cpython-310-aarch64-linux-gnu
-RUN MAKEFLAGS="-j6" colcon build \
+RUN MAKEFLAGS="-j6" ROS_ROOT=/opt/rk3576 colcon build \
     --executor parallel \
     --parallel-workers 6 \
     --install-base ${TARGET_SYSROOT} \
@@ -44,7 +46,9 @@ RUN MAKEFLAGS="-j6" colcon build \
     -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
     -DBUILD_TESTING=OFF \
     -DTRACETOOLS_DISABLED=ON \
-    -DCV_BRIDGE_DISABLE_PYTHON=ON
+    -DCV_BRIDGE_DISABLE_PYTHON=ON \
+    -DPython3_NumPy_INCLUDE_DI=/opt/rk3576/lib/python3.10/site-packages/numpy/core/include \
+    -DPYTHON_SOABI=cpython-310-aarch64-linux-gnu
 
 # pybind11 python soabi issue
 WORKDIR ${TARGET_SYSROOT}/lib/python3.10/site-packages/rclpy
@@ -62,7 +66,8 @@ WORKDIR ${TARGET_SYSROOT}/lib/python3.10/site-packages/rosidl_buffer
 RUN mv _rosidl_buffer_py.cpython-310-x86_64-linux-gnu.so _rosidl_buffer_py.cpython-310-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}
 
 # rust install 
@@ -102,4 +107,5 @@ FROM ${CC_PLATFORM_IMAGE} AS final
 ARG ROS_ROOT
 ENV ROS_ROOT=${ROS_ROOT}
 COPY --from=rmw_zenoh_builder ${TARGET_SYSROOT} ${ROS_ROOT}
-WORKDIR /opt
+ENV TARGET_SYSROOT=${ROS_ROOT}
+WORKDIR /workspace

cross_compile/vendor/extract_wheels.sh

@@ -0,0 +1,31 @@
+#!/bin/bash
+set -euo pipefail
+
+SITE_PACKAGES="${1:?usage: extract_wheels.sh <site-packages-dir> <wheels-dir>}"
+WHEELS_DIR="${2:?usage: extract_wheels.sh <site-packages-dir> <wheels-dir>}"
+
+mkdir -p "$SITE_PACKAGES"
+
+for f in "$WHEELS_DIR"/*; do
+  case "$f" in
+    *.whl)
+      python3 -m zipfile -e "$f" "$SITE_PACKAGES/"
+      ;;
+    *.tar.gz|*.tar.bz2)
+      tmpdir=$(mktemp -d)
+      tar xf "$f" -C "$tmpdir"
+      for pkgdir in "$tmpdir"/*/; do
+        for inner in "$pkgdir"*/; do
+          if [ -f "${inner}__init__.py" ]; then
+            cp -r "$inner" "$SITE_PACKAGES/"
+          fi
+        done
+        find "$pkgdir" -maxdepth 1 -name "*.py" -exec cp {} "$SITE_PACKAGES/" \;
+      done
+      rm -rf "$tmpdir"
+      ;;
+  esac
+done
+
+echo "Extraction done. Contents of $SITE_PACKAGES:"
+ls "$SITE_PACKAGES"

cross_compile/vendor/packages/asio_vendor/CMakeLists.txt

@@ -13,7 +13,7 @@ include(FetchContent)
 FetchContent_Declare(
   asio_vendor
   GIT_REPOSITORY https://github.com/chriskohlhoff/asio.git
-  GIT_TAG asio-1-36-0
+  GIT_TAG asio-1-28-1
   GIT_SHALLOW TRUE
 )
 

cross_compile/vendor/vendor_packages.Dockerfile

@@ -2,7 +2,7 @@ ARG CC_PLATFORM_IMAGE
 
 FROM ${CC_PLATFORM_IMAGE} AS system_packages
 
-COPY vendor_packages workspace/src/
+COPY vendor/packages workspace/src/
 
 RUN cd workspace \
     && colcon build \
@@ -16,15 +16,14 @@ RUN cd workspace \
     -DBUILD_TESTING=OFF \
     -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE}
 
-
 FROM ${CC_PLATFORM_IMAGE} AS ceres_vendor
 
-COPY vendor_packages/eigen3_vendor      workspace/src/eigen3_vendor
+COPY vendor/packages/eigen3_vendor      workspace/src/eigen3_vendor
 # COPY vendor_packages/gflags_vendor      workspace/src/gflags_vendor
 # COPY vendor_packages/glog_vendor        workspace/src/glog_vendor
 # COPY vendor_packages/openblas_vendor    workspace/src/openblas_vendor
 # COPY vendor_packages/suitesparse_vendor workspace/src/suitesparse_vendor
-COPY vendor_packages/ceres_vendor       workspace/src/ceres_vendor
+COPY vendor/packages/ceres_vendor       workspace/src/ceres_vendor
 
 RUN cd workspace \
     && colcon build \
@@ -40,7 +39,7 @@ RUN cd workspace \
 
 FROM ${CC_PLATFORM_IMAGE} AS opencv_vendor
 
-COPY vendor_packages/opencv_vendor workspace/src/opencv_vendor
+COPY vendor/packages/opencv_vendor workspace/src/opencv_vendor
 
 RUN cd workspace \
     && colcon build \
@@ -67,10 +66,10 @@ RUN tar -zxf boost_1_83_0.tar.gz \
 
 FROM ${CC_PLATFORM_IMAGE} AS pcl_vendor
 
-COPY vendor_packages/eigen3_vendor workspace/src/eigen3_vendor
-COPY vendor_packages/liblz4_vendor workspace/src/liblz4_vendor
-COPY vendor_packages/flann_vendor workspace/src/flann_vendor
-COPY vendor_packages/pcl_vendor workspace/src/pcl_vendor
+COPY vendor/packages/eigen3_vendor workspace/src/eigen3_vendor
+COPY vendor/packages/liblz4_vendor workspace/src/liblz4_vendor
+COPY vendor/packages/flann_vendor workspace/src/flann_vendor
+COPY vendor/packages/pcl_vendor workspace/src/pcl_vendor
 
 COPY --from=boost ${TARGET_SYSROOT} ${TARGET_SYSROOT}
 
@@ -101,12 +100,22 @@ RUN git clone --depth=1 https://github.com/janbar/openssl-cmake.git \
     && make -j$(($(nproc) / 2)) && make install \
     && rm -rf /tmp
 
+# ffi
+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} \
+    && make -j$(nproc) && make install
+
 # Python 3.12
 FROM ${CC_PLATFORM_IMAGE} AS python_builder
 
 WORKDIR /tmp
 
 COPY --from=ssl_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}
+COPY --from=system_packages ${TARGET_SYSROOT} ${TARGET_SYSROOT}
+COPY --from=ffi_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}
 
 # COPY vendor_packages/Python-3.10.12.tar.xz .
 RUN wget https://www.python.org/ftp/python/3.10.12/Python-3.10.12.tar.xz \
@@ -121,37 +130,65 @@ ENV CC=aarch64-none-linux-gnu-gcc \
     RANLIB=aarch64-none-linux-gnu-ranlib \
     HOSTARCH=aarch64-none-linux-gnu \
     BUILDARCH=x86_64-linux-gnu
-    
-# export CC=aarch64-none-linux-gnu-gcc 
-# export CXX=aarch64-none-linux-gnu-g++ 
-# export AR=aarch64-none-linux-gnu-ar 
-# export RANLIB=aarch64-none-linux-gnu-ranlib 
-# export HOSTARCH=aarch64-none-linux-gnu 
-# export BUILDARCH=x86_64-linux-gn
 
-RUN CFLAGS="-fPIC" LDFLAGS="-fPIC" ./configure \
+ENV CPPFLAGS="-I${TARGET_SYSROOT}/include" \
+    LDFLAGS="-L${TARGET_SYSROOT}/lib -Wl,-rpath-link=${TARGET_SYSROOT}/lib" \
+    CFLAGS="-fPIC" \
+    PKG_CONFIG_PATH="" \
+    PKG_CONFIG_LIBDIR="${TARGET_SYSROOT}/lib/pkgconfig" \
+    PKG_CONFIG_SYSROOT_DIR="${TARGET_SYSROOT}"
+
+RUN ./configure \
     --host=aarch64-none-linux-gnu \
     --build=x86_64-linux-gnu \
     --prefix=${TARGET_SYSROOT} \
-    --with-build-python=python3.10 \
+    --enable-shared \
     --disable-ipv6 \
     --enable-optimizations \
     --with-openssl=${TARGET_SYSROOT} \
     ac_cv_file__dev_ptmx=yes \
     ac_cv_file__dev_ptc=yes \
-    && make -j$(($(nproc) / 2)) && make install
+    && make -j$(($(nproc) / 2)) \
+    && make install
 
 # https://github.com/benfogle/crossenv
 # cross compile python packages 
 WORKDIR /tmp
-# /opt/python3.10/venv/build/bin/pip install 'setuptools==68.2.2' wheel
+
+COPY vendor/extract_wheels.sh /tmp/extract_wheels.sh
+
+# python packages
+RUN pip download --no-deps -d /wheels \
+    empy==3.3.4 \
+    lark \
+    pyyaml \
+    catkin_pkg \
+    setuptools \
+    packaging \
+    pyparsing \
+    argcomplete \
+    osrf-pycommon \
+    typing-extensions \
+    psutil
+
+# python packages with c extension
+RUN pip download \
+    --no-deps \
+    --only-binary=:all: \
+    --python-version 310 \
+    --implementation cp \
+    --abi cp310 \
+    --platform manylinux2014_aarch64 \
+    -d /wheels \
+    psutil
+
+RUN chmod +x /tmp/extract_wheels.sh && \
+    /tmp/extract_wheels.sh "${TARGET_SYSROOT}/lib/python3.10/site-packages" /wheels
+
 RUN python3 -m pip install crossenv \
     && python3 -m crossenv ${TARGET_SYSROOT}/bin/python3 venv \
     && . venv/bin/activate \
-    && pip -v install numpy==1.21.5 lark==1.1.1 packaging typing-extensions --prefix=${TARGET_SYSROOT} \
-    && ./venv/build/bin/pip install 'setuptools==68.2.2' wheel \
-    && pip -v install empy==3.3.4 pyyaml psutil argcomplete --prefix=${TARGET_SYSROOT}
-
+    && pip -v install numpy==1.21.5 --prefix=${TARGET_SYSROOT}
 
 FROM ${CC_PLATFORM_IMAGE} AS final