更新 Webots 与 CH32 基础镜像

Author: Jiu-xiao

ch32-riscv/Dockerfile

@@ -1,31 +1,27 @@
 FROM ubuntu:24.04
 
 ARG DEBIAN_FRONTEND=noninteractive
+ARG MRS_TOOLCHAIN_URL="https://github.com/Jiu-xiao/mounriver-toolchain-mirror/releases/download/v240/MRS_Toolchain_Linux_X64_V240.tar.xz"
 
 LABEL maintainer="2592509183@qq.com"
 LABEL description="This is a Docker Image for XRobot build."
 
 RUN apt update && apt upgrade -y --no-install-recommends && \
-apt install -y --no-install-recommends xz-utils git curl sudo wget zip make && apt install -y net-tools usbutils nano gdb cmake ninja-build file clang-18 clangd clang-tidy gcc g++ python3-tk libgpiod-dev && apt clean
+apt install -y --no-install-recommends xz-utils git curl sudo wget zip make && apt install -y net-tools usbutils nano gdb cmake ninja-build file clang-18 clangd clang-tidy gcc g++ python3-tk libhidapi-hidraw0 libjaylink0 && apt clean
 
 RUN update-alternatives --install /usr/bin/clang clang /usr/bin/clang-18 100 && \
     update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-18 100
 
 RUN sudo mv /usr/lib/python3.12/EXTERNALLY-MANAGED /usr/lib/python3.12/EXTERNALLY-MANAGED.bk
 
-RUN apt install -y --no-install-recommends \
-gawk texinfo bison flex bzip2 zlib1g-dev libgmp-dev libmpfr-dev \
-libexpat-dev autoconf automake autotools-dev \
-python3-tomli libmpc-dev build-essential gperf libtool patchutils \
-bc libglib2.0-dev libslirp-dev ninja-build cmake git && \
-apt clean && \
-git clone https://github.com/riscv-collab/riscv-gnu-toolchain && \
-cd riscv-gnu-toolchain && \
-./configure --with-arch=rv32gc --with-abi=ilp32 \
---prefix=/opt/riscv-rv32 \
---with-multilib-generator="rv32imac-ilp32--zicsr*zifencei*zaamo*zalrsc;rv32imafc-ilp32f--zicsr*zifencei*zaamo*zalrsc" && \
-make -j$(nproc) && \
-cd .. && rm -rf riscv-gnu-toolchain
+RUN set -eux; \
+curl -L --fail --retry 3 -o /tmp/mrs_toolchain.tar.xz "$MRS_TOOLCHAIN_URL"; \
+mkdir -p /opt/wch-gcc15-v240; \
+tar -xf /tmp/mrs_toolchain.tar.xz -C /opt/wch-gcc15-v240; \
+rm -f /tmp/mrs_toolchain.tar.xz; \
+test -x "/opt/wch-gcc15-v240/Toolchain/RISC-V Embedded GCC15/bin/riscv32-wch-elf-gcc"; \
+test -x "/opt/wch-gcc15-v240/Toolchain/RISC-V Embedded GCC15/bin/riscv32-wch-elf-g++"; \
+test -x "/opt/wch-gcc15-v240/OpenOCD/OpenOCD/bin/openocd"
 
-# 链接 RISC-V 工具链至 PATH
-RUN bash -c "ln -s /opt/riscv-rv32/bin/* /usr/bin/"
+RUN bash -c 'ln -sf "/opt/wch-gcc15-v240/Toolchain/RISC-V Embedded GCC15/bin/"* /usr/bin/' && \
+    bash -c 'ln -sf "/opt/wch-gcc15-v240/OpenOCD/OpenOCD/bin/"* /usr/bin/'

webots/Dockerfile

@@ -14,7 +14,7 @@ RUN apt-get update && \
       clang-18 clangd clang-tidy \
       gcc g++ \
       python3 python3-venv python3-tk \
-      libwpa-client-dev libnm-dev libudev-dev libgpiod-dev \
+      libwpa-client-dev libnm-dev libudev-dev \
       ca-certificates pkg-config && \
     rm -rf /var/lib/apt/lists/*
 
@@ -32,6 +32,18 @@ RUN set -eux; \
     rm -f /tmp/webots.deb; \
     rm -rf /var/lib/apt/lists/*
 
+RUN set -eux; \
+    wget -O /tmp/openvino.tgz https://storage.openvinotoolkit.org/repositories/openvino/packages/2025.4/linux/openvino_toolkit_ubuntu24_2025.4.0.20398.8fdad55727d_x86_64.tgz; \
+    tar -xf /tmp/openvino.tgz -C /tmp; \
+    mkdir -p /opt/intel; \
+    mv /tmp/openvino_toolkit_ubuntu24_2025.4.0.20398.8fdad55727d_x86_64 /opt/intel/openvino_2025.4.0; \
+    ln -sfn /opt/intel/openvino_2025.4.0 /opt/intel/openvino_2025; \
+    rm -f /tmp/openvino.tgz
+
+ENV OpenVINO_DIR=/opt/intel/openvino_2025.4.0/runtime/cmake
+ENV CMAKE_PREFIX_PATH=/opt/intel/openvino_2025.4.0/runtime/cmake:${CMAKE_PREFIX_PATH}
+ENV LD_LIBRARY_PATH=/opt/intel/openvino_2025.4.0/runtime/lib/intel64:/usr/local/webots/lib/controller:${LD_LIBRARY_PATH}
+
 RUN set -eux; \
     apt-get update; \
     apt-get install -y --no-install-recommends \