feat: refactor docker build to buildx

docker/build/README.md

@@ -5,46 +5,66 @@
 Apollo runs within Docker containers, with images tailored for development and
 deployment. We currently support `x86_64` and `aarch64` architectures.
 
+Build orchestration is now standardized on `docker buildx bake`.
+
+- `x86_64`: based on `nvidia/cuda` official images.
+- `aarch64` (Jetson): based on `nvcr.io/nvidia/l4t-jetpack` (L4T).
+
 **Image Types:**
 
-- **Cyber (Base/Cyber)**: Core CyberRT framework, ideal for CyberRT-focused
-  development.
+- **Base**: Foundational CUDA/ML runtime layer for Apollo docker builds.
 - **Dev**: Full Apollo project with development toolchain, for building and
   running the entire Apollo stack.
 - **Runtime**: Optimized, minimal image for production deployment.
 
 ## Quick Start
 
-Use the `./build_docker.sh` script to build images.
+Use `docker buildx bake` directly, or keep using `./build_docker.sh` as a
+compatibility wrapper around bake.
+
+### 0. Prepare Buildx Builder
+
+```bash
+docker buildx create --name apollo-builder --use --bootstrap || docker buildx use apollo-builder
+```
 
-### 1. Build CyberRT Image
+### 1. Build Base Image
 
-Builds the base development environment including CUDA/CuDNN/TensorRT and the
-CyberRT framework.
+Builds the foundational environment including CUDA/CuDNN/TensorRT and core
+system dependencies.
 
 ```bash
 cd docker/build
 
-# Build x86_64 CyberRT image (default: download pre-built dependencies)
-./build_docker.sh -f cyber.x86_64.dockerfile
+# Build x86_64 Base image
+./build_docker.sh -f base.x86_64.cuda.dockerfile
+
+# Equivalent direct bake command
+docker buildx bake -f docker-bake.hcl base-x86_64-cuda
 
 # For users in mainland China (accelerated mirrors)
-./build_docker.sh -f cyber.x86_64.dockerfile -g cn
+./build_docker.sh -f base.x86_64.cuda.dockerfile -g cn
 
 # Build all dependencies from source (takes longer)
-./build_docker.sh -f dev.x86_64.cpu.dockerfile -m build
+./build_docker.sh -f dev.x86_64.cuda.dockerfile -m build
 ```
 
 ### 2. Build Apollo Dev Image
 
-Builds the full Apollo development image, based on a CyberRT image.
+Builds the full Apollo development image, based on a Base image.
 
 ```bash
 # Build x86_64 Dev image
-./build_docker.sh -f dev.x86_64.dockerfile
+./build_docker.sh -f dev.x86_64.cuda.dockerfile
 
 # Build aarch64 Dev image (ensure qemu-user-static is configured for cross-arch builds)
-./build_docker.sh -f dev.aarch64.dockerfile -m download
+./build_docker.sh -f dev.aarch64.cuda.dockerfile -m download
+
+# Build all base images in one shot
+docker buildx bake -f docker-bake.hcl base
+
+# Build all dev images in one shot
+docker buildx bake -f docker-bake.hcl dev
 ```
 
 ### 3. Build Apollo Runtime Image
@@ -76,13 +96,19 @@ Usage:
     build_docker.sh -f <Dockerfile> [Options]
 
 Options:
-    -f, --dockerfile   Path to the Dockerfile (e.g., 'cyber.x86_64.dockerfile').
+    -f, --dockerfile   Path to the Dockerfile (e.g., 'base.x86_64.cuda.dockerfile').
     -c, --clean        Disable Docker build cache (--no-cache=true).
     -m, --mode         Installation mode: 'download' (default, use pre-built), 'build' (build from source).
     -g, --geo          Enable geo-specific mirrors ('cn' or 'us', default 'us').
     -t, --timestamp    Timestamp of the previous stage image (YYYYMMDD_HHMM).
     --dry              Dry run (print commands without execution).
     -h, --help         Show help message and exit.
+
+  Additional wrapper options:
+
+    --l4t-tag          L4T tag for Jetson base (default: r36.4.0)
+    --push             Push images to registry
+    --no-load          Do not load images into local docker daemon
 ```
 
 ---

docker/build/base.aarch64.cuda.dockerfile

@@ -1,9 +1,11 @@
-#ARG BASE_IMAGE=nvcr.io/nvidia/l4t-jetpack:r35.4.1
-ARG BASE_IMAGE=nvidia/cuda:11.4.3-cudnn8-devel-ubuntu20.04
+ARG BASE_IMAGE=nvcr.io/nvidia/l4t-jetpack:r36.4.0
 FROM ${BASE_IMAGE}
 
-ARG TENSORRT_VERSION="8.5.2"
-ARG PATCH_SUFFIX="-1+cuda11.4"
+ARG CUDA_TOOLKIT_VERSION="12.6.68"
+ARG CUDNN_VERSION="9.3.0.75"
+ARG TENSORRT_VERSION="10.3.0.30"
+ARG VPI_VERSION="3.2.4"
+ARG VULKAN_VERSION="1.3.204"
 ARG GEOLOC
 ARG DEBIAN_FRONTEND=noninteractive
 
@@ -14,58 +16,21 @@ RUN apt-get update && \
     apt-get upgrade -y && \
     apt-get install -qq -y --no-install-recommends \
         ca-certificates \
-        gnupg2 && \
+        gnupg2 \
+        curl \
+        libvulkan1 \
+        vulkan-tools && \
     rm -rf /var/lib/apt/lists/* && apt-get clean
 
-# consistent with the host system, for jetson orin, if not, please modify it manually
-ADD https://repo.download.nvidia.com/jetson/jetson-ota-public.asc /etc/apt/trusted.gpg.d/jetson-ota-public.asc
-RUN chmod +r /etc/apt/trusted.gpg.d/jetson-ota-public.asc
-COPY rcfiles/nvidia-jetson-common-r35.4-main.list /etc/apt/sources.list.d/nvidia-jetson-common-r35.4-main.list
-
-# change source list for cn
-COPY rcfiles/sources.list.tsinghua.aarch64.ubuntu.20.04 /etc/apt/sources.list
-
 # Add NVIDIA Tegra library paths
 RUN echo "/usr/lib/aarch64-linux-gnu/tegra" >> /etc/ld.so.conf.d/nvidia-tegra.conf && \
     echo "/usr/lib/aarch64-linux-gnu/tegra-egl" >> /etc/ld.so.conf.d/nvidia-tegra.conf
 
-#
-# Install nvidia-cuda-dev for CUDA developer packages
-# Use nvidia-cuda if need CUDA runtime only
-#
-# RUN --mount=type=bind,source=rcfiles/sources.list.local.aarch64.ubuntu.20.04,target=/etc/apt/sources.list \
-#     --mount=type=bind,source=rcfiles/wheelos.cn.public.gpg,target=/opt/apollo/rcfiles/wheelos.cn.public.gpg \
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends \
-        nvidia-cuda-dev && \
-    apt-get clean && \
-    rm -rf /var/lib/apt/lists/*
-
-#
-# Install nvidia-cudnn8-dev for CuDNN developer packages
-# Use nvidia-cudnn8 if need CuDNN runtime only
-#
-# RUN --mount=type=bind,source=rcfiles/sources.list.local.aarch64.ubuntu.20.04,target=/etc/apt/sources.list \
-#     --mount=type=bind,source=rcfiles/wheelos.cn.public.gpg,target=/opt/apollo/rcfiles/wheelos.cn.public.gpg \
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends \
-        nvidia-cudnn8-dev && \
-    apt-get clean && \
-    rm -rf /var/lib/apt/lists/*
-
-#
-# Install nvidia-tensorrt-dev for TensorRT developer packages
-# Use nvidia-tensorrt if need TensorRT runtime only
-#
-# RUN --mount=type=bind,source=rcfiles/sources.list.local.aarch64.ubuntu.20.04,target=/etc/apt/sources.list \
-#     --mount=type=bind,source=rcfiles/wheelos.cn.public.gpg,target=/opt/apollo/rcfiles/wheelos.cn.public.gpg \
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends \
-        nvidia-tensorrt-dev && \
-    apt-get clean && \
-    rm -rf /var/lib/apt/lists/*
-
 ENV NVIDIA_VISIBLE_DEVICES all
 ENV NVIDIA_DRIVER_CAPABILITIES all
 
+ENV CUDA_TOOLKIT_VERSION=${CUDA_TOOLKIT_VERSION}
+ENV CUDNN_VERSION=${CUDNN_VERSION}
 ENV TENSORRT_VERSION=${TENSORRT_VERSION}
+ENV VPI_VERSION=${VPI_VERSION}
+ENV VULKAN_VERSION=${VULKAN_VERSION}

docker/build/base.x86_64.cuda.dockerfile

@@ -1,13 +1,14 @@
-ARG BASE_IMAGE=nvidia/cuda:11.8.0-cudnn8-devel-ubuntu20.04
+ARG BASE_IMAGE=nvidia/cuda:12.6.3-cudnn-devel-ubuntu22.04
 FROM ${BASE_IMAGE}
 
-ARG TENSORRT_VERSION="8.6.1.6"
-ARG PATCH_SUFFIX="-1+cuda11.8"
+ARG CUDA_TOOLKIT_VERSION="12.6.68"
+ARG CUDNN_VERSION="9.3.0.75"
+ARG TENSORRT_VERSION="10.3.0.30"
+ARG VPI_VERSION="3.2.4"
+ARG VULKAN_VERSION="1.3.204"
 
 LABEL maintainer="WheelOS <developer@wheelos.cn>"
 
-COPY rcfiles/sources.list.tsinghua.x86_64.ubuntu.20.04 /etc/apt/sources.list
-
 ENV DEBIAN_FRONTEND=noninteractive
 
 # Note:
@@ -17,19 +18,23 @@ ENV DEBIAN_FRONTEND=noninteractive
 #     --mount=type=bind,source=rcfiles/wheelos.cn.public.gpg,target=/opt/apollo/rcfiles/wheelos.cn.public.gpg \
 RUN apt-get update && \
     apt-get install -y --no-install-recommends \
-        libnvinfer8="${TENSORRT_VERSION}${PATCH_SUFFIX}" \
-        libnvinfer-plugin8="${TENSORRT_VERSION}${PATCH_SUFFIX}" \
-        libnvinfer-vc-plugin8="${TENSORRT_VERSION}${PATCH_SUFFIX}" \
-        libnvinfer-dev="${TENSORRT_VERSION}${PATCH_SUFFIX}" \
-        libnvinfer-headers-dev="${TENSORRT_VERSION}${PATCH_SUFFIX}" \
-        libnvinfer-headers-plugin-dev="${TENSORRT_VERSION}${PATCH_SUFFIX}" \
-        libnvinfer-plugin-dev="${TENSORRT_VERSION}${PATCH_SUFFIX}" \
-        libnvonnxparsers8="${TENSORRT_VERSION}${PATCH_SUFFIX}" \
-        libnvonnxparsers-dev="${TENSORRT_VERSION}${PATCH_SUFFIX}" \
-        libnvparsers8="${TENSORRT_VERSION}${PATCH_SUFFIX}" \
-        libnvparsers-dev="${TENSORRT_VERSION}${PATCH_SUFFIX}" \
-        python3-libnvinfer="${TENSORRT_VERSION}${PATCH_SUFFIX}" && \
+        ca-certificates \
+        curl \
+        gnupg2 \
+        libvulkan1 \
+        vulkan-tools && \
+    (apt-get install -y --no-install-recommends nvidia-tensorrt-dev \
+      || apt-get install -y --no-install-recommends tensorrt-dev \
+      || apt-get install -y --no-install-recommends \
+          libnvinfer-dev \
+          libnvinfer-plugin-dev \
+          libnvonnxparsers-dev \
+          libnvparsers-dev) && \
     apt-get clean && \
     rm -rf /var/lib/apt/lists/*
 
+ENV CUDA_TOOLKIT_VERSION=${CUDA_TOOLKIT_VERSION}
+ENV CUDNN_VERSION=${CUDNN_VERSION}
 ENV TENSORRT_VERSION=${TENSORRT_VERSION}
+ENV VPI_VERSION=${VPI_VERSION}
+ENV VULKAN_VERSION=${VULKAN_VERSION}