Dockerfile.arm64v8.foxy

#  Copyright (C) 2021 Texas Instruments Incorporated - http://www.ti.com/
#
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#    Redistributions in binary form must reproduce the above copyright
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#    its contributors may be used to endorse or promote products derived
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#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
#  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

ARG USE_PROXY
ARG HTTP_PROXY
ARG REPO_LOCATION=arm64v8
ARG DEBIAN_FRONTEND=noninteractive

#=========================================================================
# The environment variable REPO_LOCATION is set from outside as needed,
# based on network
FROM ${REPO_LOCATION}/ubuntu:20.04 AS base-0

#=========================================================================
FROM base-0 AS base-1
ARG USE_PROXY
ENV USE_PROXY=${USE_PROXY}
ARG HTTP_PROXY
ENV http_proxy=${HTTP_PROXY}
ENV https_proxy=${HTTP_PROXY}

#=========================================================================
#FROM base-${USE_PROXY} AS ubuntu-stage1
FROM base-0 AS ubuntu-stage1
ARG DEBIAN_FRONTEND

# setup proxy settings
#ADD setup_proxy.sh /root/
#ADD proxy /root/proxy
#RUN /root/setup_proxy.sh

# install gstreamer dependencies
RUN apt update && apt install -y --no-install-recommends \
    libgstreamer1.0-0 \
    libgstreamer1.0-dev \
    libgstreamer-plugins-base1.0-dev \
    libgstreamer-plugins-good1.0-dev \
    gstreamer1.0-plugins-base \
    gstreamer1.0-plugins-good \
    gstreamer1.0-plugins-bad \
    gstreamer1.0-libav \
    gstreamer1.0-tools \
    gir1.2-gst-rtsp-server-1.0 \
    ninja-build && \
    rm -rf /var/lib/apt/lists/*

# install python packages
RUN apt-get update && apt-get install -y --no-install-recommends \
    python3-pip && \
    python3 -m pip install --upgrade pip && \
    python3 -m pip install \
        meson \
        configparser \
        argparse && \
    rm -rf /var/lib/apt/lists/*

#=========================================================================
FROM ubuntu-stage1 AS ubuntu-ros2
ARG DEBIAN_FRONTEND
# install ROS Foxy

# setup timezone
RUN echo 'Etc/UTC' > /etc/timezone && \
    ln -sf /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
    apt-get update && \
    apt-get install -q -y --no-install-recommends tzdata && \
    rm -rf /var/lib/apt/lists/*

# install packages
RUN apt-get update && apt-get install -q -y --no-install-recommends \
    dirmngr \
    gnupg2 \
    curl \
    && rm -rf /var/lib/apt/lists/*

# setup sources.list
RUN echo "deb http://packages.ros.org/ros2/ubuntu focal main" > /etc/apt/sources.list.d/ros2-latest.list

# setup keys
# RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
# workaround in case apt-key above does not work, e.g., behind a proxy
RUN curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | apt-key add -

# setup environment variables
ENV LANG=C.UTF-8
ENV LC_ALL=C.UTF-8
ENV ROS_DISTRO=foxy

# install bootstrap tools
RUN apt-get update && apt-get install -y --no-install-recommends \
    build-essential \
    git \
    python3-colcon-common-extensions \
    python3-colcon-mixin \
    python3-rosdep \
    python3-vcstool \
    && rm -rf /var/lib/apt/lists/*

# bootstrap rosdep
RUN rosdep init && \
    rosdep update --rosdistro ${ROS_DISTRO}

# setup colcon mixin and metadata
RUN colcon mixin add default \
      https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
    colcon mixin update && \
    colcon metadata add default \
      https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
    colcon metadata update

# install ros-core packages
RUN apt-get update && apt-get install -y --no-install-recommends \
    ros-foxy-ros-base=0.9.2-1* \
    && rm -rf /var/lib/apt/lists/*

#=========================================================================
FROM ubuntu-ros2
ARG DEBIAN_FRONTEND

# install dependency for tivision_apps.so
# TODO: check if these are still required in 20.04
RUN apt-get update && apt-get install -y \
    libdevil-dev libglu1-mesa-dev freeglut3-dev mesa-common-dev && \
    rm -rf /var/lib/apt/lists/*

# intsall utils and miscellaneous packages
RUN apt-get update && apt-get install -y --no-install-recommends \
    wget \
    vim \
    tmux \
    gdb \
    iputils-ping \
    usbutils \
    ncurses-dev \
    libyaml-cpp-dev \
    rsync \
    strace \
    sysstat \
    gdb \
    net-tools \
    dialog \
    chrony \
    nfs-common \
    corkscrew \
    v4l-utils && \
    rm -rf /var/lib/apt/lists/*

# install additional ROS packages beyond ros-foxy-ros-base
RUN apt-get update && apt-get install -y --no-install-recommends \
    ros-foxy-rmw-cyclonedds-cpp \
    ros-foxy-cv-bridge \
    ros-foxy-image-transport \
    ros-foxy-camera-info-manager \
    libeigen3-dev \
    python3-opencv && \
    python3 -m pip install rosbags && \
    rm -rf /var/lib/apt/lists/*

# install vision_apps lib and DL runtime libs
ARG TIVA_LIB_VER=8.1.0

#COPY lib/*  /usr/lib/
#COPY include/processor_sdk /usr/include/processor_sdk
#COPY include/dlr.h /usr/include/
#RUN ln -s /usr/lib/libtivision_apps.so.$TIVA_LIB_VER /usr/lib/libtivision_apps.so && \
#    ln -s /usr/lib/libvx_tidl_rt.so.1.0 /usr/lib/libvx_tidl_rt.so && \
#    ln -s /usr/lib/libti_rpmsg_char.so.0.3.1 /usr/lib/libti_rpmsg_char.so.0 && \
#    ln -s /usr/lib/libti_rpmsg_char.so.0 /usr/lib/libti_rpmsg_char.so && \
#    ln -s /usr/lib/libonnxruntime.so.1.7.0 /usr/lib/libonnxruntime.so && \
#    ln -s /usr/lib/libtidl_onnxrt_EP.so.1.0 /usr/lib/libtidl_onnxrt_EP.so

WORKDIR /opt
RUN wget https://software-dl.ti.com/jacinto7/esd/processor-sdk-rtos-jacinto7/08_01_00_11/exports/ti-processor-sdk-rtos-j721e-evm-08_01_00_11-prebuilt.tar.gz && \
    tar --skip-old-files --strip-components=2 -C / -xvzf ti-processor-sdk-rtos-j721e-evm-08_01_00_11-prebuilt.tar.gz ti-processor-sdk-rtos-j721e-evm-08_01_00_11-prebuilt/rootfs

# Not sure if `cp_others.sh` is required
#WORKDIR /root/src
#RUN git clone --single-branch --depth 1 --branch master  https://github.com/beagleboard/processor_sdk_tidl_j7 && cd processor_sdk_tidl_j7 && ./cp_others.sh && ln -s /root/src/processor_sdk_tidl_j7 /usr/include/processor_sdk

WORKDIR /root/src
RUN git clone --single-branch --depth 1 --branch 1.0.1-ti_nv12 https://github.com/jadonk/gscam

WORKDIR /root/j7ros_home
RUN wget https://software-dl.ti.com/jacinto7/esd/robotics-sdk/data/tidl-semseg-model_8.1.0.5.tar.gz && tar xzf tidl-semseg-model_8.1.0.5.tar.gz && rm tidl-semseg-model_8.1.0.5.tar.gz
RUN cd tidl_semseg_model/tvmdlr_deeplabv3lite_mobilenetv2_tv_768x432_qat-p2_onnx/artifacts && ln -snf deploy_lib.so.j7 deploy_lib.so && ln -snf deploy_params.params.j7 deploy_params.params && ln -snf deploy_graph.json.j7 deploy_graph.json && cd /root/j7ros_home
RUN wget https://software-dl.ti.com/jacinto7/esd/robotics-sdk/data/ros-bag_2020_1109.tar.gz && tar xzf ros-bag_2020_1109.tar.gz && rm ros-bag_2020_1109.tar.gz
RUN wget https://software-dl.ti.com/jacinto7/esd/robotics-sdk/data/visual-localization_8.1.0.5.tar.gz && tar xzf visual-localization_8.1.0.5.tar.gz && rm visual-localization_8.1.0.5.tar.gz
RUN wget https://software-dl.ti.com/jacinto7/esd/robotics-sdk/data/lidar2d_2021_0521.tar.gz && tar xzf lidar2d_2021_0521.tar.gz && rm lidar2d_2021_0521.tar.gz

WORKDIR /opt
RUN git clone --single-branch --branch tidl-j7 --depth 1 https://github.com/TexasInstruments/tensorflow.git && \
    mkdir -p tensorflow/lite/tools/make/downloads && \
    cd tensorflow/lite/tools/make/downloads && \
    wget https://github.com/google/flatbuffers/archive/v1.12.0.tar.gz && \
    tar xzf v1.12.0.tar.gz && \
    mv flatbuffers-1.12.0 flatbuffers && \
    rm -rf v1.12.0.tar.gz

WORKDIR /opt
RUN git clone --single-branch --depth 1 -b master https://github.com/dmlc/dlpack.git && cd dlpack && git checkout -b tidl_branch 3ec0443

WORKDIR /opt
RUN git clone --single-branch --branch tidl-j7 --depth 1 https://github.com/TexasInstruments/onnxruntime.git

WORKDIR /opt/model_zoo
RUN wget https://git.ti.com/cgit/edgeai/edge_ai_apps/plain/download_models.sh && chmod +x download_models.sh
RUN ./download_models.sh --download ONR-OD-8050-ssd-lite-regNetX-800mf-fpn-bgr-coco-512x512
RUN ./download_models.sh --download TFL-OD-2020-ssdLite-mobDet-DSP-coco-320x320

WORKDIR /root/src
RUN git clone --single-branch --branch master https://github.com/beagleboard/processor_sdk_tidl_j7 && \
    cd processor_sdk_tidl_j7 && \
    ./cp_others.sh # && \
    #cd .. && \
    #rm -rf /root/src/processor_sdk_tidl_j7

WORKDIR /opt
RUN wget https://software-dl.ti.com/jacinto7/esd/processor-sdk-rtos-jacinto7/08_01_00_11/exports/ti-processor-sdk-rtos-j721e-evm-08_01_00_11.tar.gz && \
    tar xzf ti-processor-sdk-rtos-j721e-evm-08_01_00_11.tar.gz && \
    cd ti-processor-sdk-rtos-j721e-evm-08_01_00_11 && \
    echo "BUILD_EMULATION=no" >> tiovx/build_flags.mak && \
    echo "BUILD_TARGET_MODE=yes" >> tiovx/build_flags.mak && \
    echo "BUILD_LINUX_A72=yes" >> tiovx/build_flags.mak && \
    echo "PROFILE=release" >> tiovx/build_flags.mak && \
    cd vision_apps && \
    make vision_apps -j2

    #tar xzf ti-processor-sdk-rtos-j721e-evm-08_01_00_11.tar.gz ti-processor-sdk-rtos-j721e-evm-08_01_00_11/imaging && \
    #cd ti-processor-sdk-rtos-j721e-evm-08_01_00_11/imaging/ti_2a_wrapper/src && \
    #cp prebuilt_libs/J7/A72/LINUX/release/* /usr/local/lib/ && \
    #gcc -fPIC -rdynamic -shared ti_2a_wrapper/src/ti_2a_wrapper.c -o libtiimaging.so -I../include -I/usr/include -I/usr/include/processor_sdk/tiovx/include -I/usr/include/processor_sdk/tiovx/kernels/include -I/usr/include/processor_sdk/tiovx/kernels_j7/include -I../../kernels/include -I../../algos/dcc/include -I../../algos/awb/include -I../../algos/ae/include -I../../sensor_drv/include -I../../kernels/arm -I../../itt_server_remote/include -I/root/src/processor_sdk_tidl_j7/vision_apps/utils/remote_service/include -I/usr/include/processor_sdk/vision_apps/utils/ipc/include -DSOC_J721E && \
    #cp libtiimaging.so /usr/local/lib/libti_2a_wrapper.so

WORKDIR /root/src 
RUN python3 -m pip install dlr && \
    ln -s /usr/lib/python3.8/site-packages/dlr/libdlr.so /usr/local/lib/libdlr.so

# install edgeai-tiovx-modules
WORKDIR /root/src
RUN git clone --single-branch --branch main https://github.com/TexasInstruments/edgeai-tiovx-modules.git && \
    cd edgeai-tiovx-modules && \
    mkdir build && \
    cd build && \
    cmake .. && \
    make -j1 && \
    make install && \
    rm -rf /root/src/edgeai-tiovx-modules

# install edgeai-gst-plugins
WORKDIR /root/src
RUN git clone --single-branch --branch fix/pkgconfig-imaging-sdk-update https://github.com/TexasInstruments/edgeai-gst-plugins.git && \
    cd edgeai-gst-plugins && \
    meson build --prefix=/usr -Dpkg_config_path=pkgconfig && \
    ninja -C build && \
    ninja -C build install && \
    ldconfig && \
    rm -rf /root/src/edgeai-gst-plugins

# add scripts
COPY entrypoint_arm64v8.sh /root/entrypoint.sh
ADD  ros_setup.sh /root/

# .profile and .bashrc
WORKDIR /root
RUN echo "if [ -n \"$BASH_VERSION\" ]; then"     >  .profile && \
    echo "    # include .bashrc if it exists"    >> .profile && \
    echo "    if [ -f \"$HOME/.bashrc\" ]; then" >> .profile && \
    echo "        . \"$HOME/.bashrc\""           >> .profile && \
    echo "    fi"                                >> .profile && \
    echo "fi"                                    >> .profile && \
    echo "#!/bin/bash"                           >  .bashrc  && \
    echo "export PS1=\"${debian_chroot:+($debian_chroot)}\u@j7-docker:\w\$ \"" >> .bashrc

# workdir for ROS apps
ARG PROJECT_HOME=j7ros_home
ENV WORK_DIR=/root/${PROJECT_HOME}
ENV ROS_WS=${WORK_DIR}/ros_ws
WORKDIR ${ROS_WS}

# change the DDS implementation to Cyclone DDS
ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp

# setup entrypoint
ENTRYPOINT ["/root/entrypoint.sh"]