EricX-Zhao
146 lines
4.1 KiB
Docker
146 lines
4.1 KiB
Docker
ARG BASE_IMAGE
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FROM ${BASE_IMAGE} as vendor_packages_src
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# RUN mkdir -p workspace/src
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# COPY vendor_packages workspace/src/
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RUN mkdir -p workspace/src \
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&& cd workspace/src \
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&& git clone https://github.com/EricX-Zhao/vendor_packages.git
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FROM vendor_packages_src as system_packages
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RUN cd workspace \
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&& colcon build \
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--install-base ${TARGET_SYSROOT} \
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--merge-install \
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--packages-up-to system_vendor_packages \
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--cmake-force-configure \
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--cmake-args \
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--no-warn-unused-cli \
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-DCMAKE_BUILD_TYPE=Release \
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-DBUILD_TESTING=OFF \
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-DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE}
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FROM vendor_packages_src as ceres_vendor
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RUN cd workspace \
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&& colcon build \
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--install-base ${TARGET_SYSROOT} \
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--merge-install \
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--packages-up-to ceres_vendor \
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--cmake-force-configure \
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--cmake-args \
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--no-warn-unused-cli \
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-DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE}
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FROM vendor_packages_src as opencv_vendor
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RUN cd workspace \
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&& colcon build \
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--install-base ${TARGET_SYSROOT} \
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--merge-install \
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--packages-up-to opencv_vendor \
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--cmake-force-configure \
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--cmake-args \
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--no-warn-unused-cli \
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-DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE}
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FROM ${BASE_IMAGE} AS boost
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WORKDIR /tmp
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RUN wget https://archives.boost.io/release/1.83.0/source/boost_1_83_0.tar.gz
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RUN tar -zxf boost_1_83_0.tar.gz \
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&& cd boost_1_83_0 \
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&& ./bootstrap.sh --prefix=${TARGET_SYSROOT} --without-libraries=python \
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&& sed -i "/using gcc/c using gcc : arm64 : aarch64-none-linux-gnu-gcc ;" project-config.jam \
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&& ./b2 cxxflags="-fPIC" cflags="-fPIC" link=static install
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FROM vendor_packages_src as pcl_vendor
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COPY --from=boost ${TARGET_SYSROOT} ${TARGET_SYSROOT}
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RUN cd workspace \
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&& colcon build \
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--install-base ${TARGET_SYSROOT} \
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--merge-install \
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--packages-up-to pcl_vendor \
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--cmake-force-configure \
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--cmake-args \
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--no-warn-unused-cli \
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-DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE}
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# OpenSSL
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FROM ${BASE_IMAGE} AS ssl_builder
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WORKDIR /tmp
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RUN git clone --depth=1 https://github.com/janbar/openssl-cmake.git \
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&& cd openssl-cmake \
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&& mkdir build \
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&& cd build \
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&& cmake .. \
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-DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE} \
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-DCMAKE_INSTALL_PREFIX=${TARGET_SYSROOT} \
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-DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_POSITION_INDEPENDENT_CODE=ON \
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&& make -j$(($(nproc) / 2)) && make install \
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&& rm -rf /tmp
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# Python 3.12
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FROM ${BASE_IMAGE} AS python_builder
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WORKDIR /tmp
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COPY --from=ssl_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}
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# COPY vendor_packages/Python-3.10.12.tar.xz .
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RUN wget https://www.python.org/ftp/python/3.10.12/Python-3.10.12.tar.xz && \
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RUN tar -xf Python-3.10.12.tar.xz && \
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rm Python-3.10.12.tar.xz
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# 配置和编译 Python
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WORKDIR /tmp/Python-3.10.12
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ENV CC=aarch64-none-linux-gnu-gcc \
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CXX=aarch64-none-linux-gnu-g++ \
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AR=aarch64-none-linux-gnu-ar \
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RANLIB=aarch64-none-linux-gnu-ranlib \
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HOSTARCH=aarch64-none-linux-gnu \
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BUILDARCH=x86_64-linux-gnu
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RUN CFLAGS="-fPIC" LDFLAGS="-fPIC" ./configure \
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--host=aarch64-none-linux-gnu \
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--build=x86_64-linux-gnu \
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--prefix=${TARGET_SYSROOT} \
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--with-build-python=python3.12 \
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--disable-ipv6 \
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--enable-optimizations \
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--with-openssl=${TARGET_SYSROOT} \
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ac_cv_file__dev_ptmx=yes \
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ac_cv_file__dev_ptc=yes \
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&& make -j$(($(nproc) / 2)) && make install
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# https://github.com/benfogle/crossenv
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# cross compile python packages
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WORKDIR /tmp
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RUN python3 -m pip install crossenv \
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&& python3 -m crossenv ${TARGET_SYSROOT}/bin/python3 venv \
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&& . venv/bin/activate \
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&& pip -v install numpy==1.21.5 lark==1.1.1 packaging --prefix=${TARGET_SYSROOT}
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FROM ${BASE_IMAGE} as final
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COPY --from=system_packages ${TARGET_SYSROOT} ${TARGET_SYSROOT}
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COPY --from=ceres_vendor ${TARGET_SYSROOT} ${TARGET_SYSROOT}
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COPY --from=opencv_vendor ${TARGET_SYSROOT} ${TARGET_SYSROOT}
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COPY --from=pcl_vendor ${TARGET_SYSROOT} ${TARGET_SYSROOT}
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COPY --from=python_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}
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