openpilot/tools/sim/Dockerfile.sim

FROM commaai/openpilot-base:latest

RUN apt-get update && apt-get install -y \
    apt-utils \
    unzip \
    tar \
    curl \
    xz-utils \

    beignet-opencl-icd \

    alien \
    dbus \
    gcc-arm-none-eabi \
    tmux \
    vim \

    # libglvnd dependencies
    automake \
    libtool \
    libxext-dev \
    libx11-dev \
    x11proto-gl-dev \
    libpng16-16 \
  && rm -rf /var/lib/apt/lists/*

# Intel OpenCL driver
ARG INTEL_DRIVER=opencl_runtime_16.1.1_x64_ubuntu_6.4.0.25.tgz
ARG INTEL_DRIVER_URL=http://registrationcenter-download.intel.com/akdlm/irc_nas/9019
RUN mkdir -p /tmp/opencl-driver-intel
WORKDIR /tmp/opencl-driver-intel
RUN echo INTEL_DRIVER is $INTEL_DRIVER; \
    curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER; \
    tar -xzf $INTEL_DRIVER; \
    for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done; \
    dpkg -i *.deb; \
    rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb; \
    mkdir -p /etc/OpenCL/vendors; \
    echo /opt/intel/*/lib64/libintelocl.so > /etc/OpenCL/vendors/intel.icd; \
    rm -rf /tmp/opencl-driver-intel;

# Open[GL,CL] for gpu
ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES},display
RUN apt-get update && apt-get install -y --no-install-recommends \
      mesa-utils \
      ocl-icd-libopencl1 \
    && rm -rf /var/lib/apt/lists/*
RUN mkdir -p /etc/OpenCL/vendors && \
    echo "libnvidia-opencl.so.1" > /etc/OpenCL/vendors/nvidia.icd
ENV NVIDIA_VISIBLE_DEVICES all
ENV NVIDIA_DRIVER_CAPABILITIES compute,utility,display

RUN dbus-uuidgen > /etc/machine-id

# we can apt-get after moving to a newer ubuntu
WORKDIR /opt/libglvnd
RUN git clone --branch="0.1.1" https://github.com/NVIDIA/libglvnd.git . && \
    ./autogen.sh && \
    ./configure --prefix=/usr/local --libdir=/usr/local/lib/x86_64-linux-gnu && \
    make -j"$(nproc)" install-strip && \
    find /usr/local/lib/x86_64-linux-gnu -type f -name 'lib*.la' -delete

ENV LD_LIBRARY_PATH /usr/local/lib/x86_64-linux-gnu:/usr/local/lib/i386-linux-gnu${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}

# CARLA python api
COPY ./tools/sim/install_carla.sh /tmp
RUN /tmp/install_carla.sh

# get same tmux config used on NEOS for debugging
RUN cd $HOME && \
    wget https://raw.githubusercontent.com/commaai/eon-neos-builder/master/devices/eon/home/.tmux.conf

ENV PYTHONPATH $HOME/openpilot:${PYTHONPATH}
RUN mkdir -p $HOME/openpilot

COPY SConstruct $HOME/openpilot/

COPY ./phonelibs $HOME/openpilot/phonelibs
COPY ./laika $HOME/openpilot/laika
COPY ./laika_repo $HOME/openpilot/laika_repo
COPY ./rednose $HOME/openpilot/rednose
COPY ./common $HOME/openpilot/common
COPY ./models $HOME/openpilot/models
COPY ./opendbc $HOME/openpilot/opendbc
COPY ./cereal $HOME/openpilot/cereal
COPY ./panda $HOME/openpilot/panda
COPY ./selfdrive $HOME/openpilot/selfdrive
COPY ./tools $HOME/openpilot/tools

WORKDIR $HOME/openpilot
RUN scons -j$(nproc)