Re-work examples to drop balenalib usage

jetson-nano/Dockerfile

@@ -1,8 +1,35 @@
-FROM balenalib/jetson-nano-ubuntu:bionic
+FROM ubuntu:bionic-20230530
 
 # Prevent apt-get prompting for input
 ENV DEBIAN_FRONTEND noninteractive
 
+# From balenalib base:
+RUN apt-get update && apt-get install -y --no-install-recommends \
+  less \
+  kmod \
+  nano \
+  net-tools \
+  sudo \
+  ca-certificates \
+  gnupg \
+  dirmngr \
+  inetutils-ping \
+  netbase \
+  curl \
+  udev \
+  ifupdown \
+  i2c-tools \
+  usbutils \
+  $( \
+      if apt-cache show 'iproute' 2>/dev/null | grep -q '^Version:'; then \
+        echo 'iproute'; \
+      else \
+        echo 'iproute2'; \
+      fi \
+  ) \
+  && rm -rf /var/lib/apt/lists/* \
+  && c_rehash
+
 # Update to 32.7 repository in case the base image is using 32.6
 RUN sed -i 's/r32.6 main/r32.7 main/g' /etc/apt/sources.list.d/nvidia.list
 
@@ -55,5 +82,7 @@ RUN echo "#!/bin/bash" > /etc/X11/xinit/xserverrc \
 ##  GPU Device 0: "Maxwell" with compute capability 5.3
 ##  Average clocks/block = 3294.203125
 
-# Start XFCE desktop
-CMD ["startx"]
+COPY entry.sh /usr/bin/entry.sh
+
+# Start entry script
+CMD ["bash", "/usr/bin/entry.sh"]

jetson-nano/entry.sh

@@ -0,0 +1,87 @@
+#!/bin/bash
+
+# This command only works in privileged container
+tmp_mount='/tmp/_balena'
+mkdir -p "$tmp_mount"
+if mount -t devtmpfs none "$tmp_mount" &> /dev/null; then
+	PRIVILEGED=true
+	umount "$tmp_mount"
+else
+	PRIVILEGED=false
+fi
+rm -rf "$tmp_mount"
+
+function mount_dev()
+{
+	tmp_dir='/tmp/tmpmount'
+	mkdir -p "$tmp_dir"
+	mount -t devtmpfs none "$tmp_dir"
+	mkdir -p "$tmp_dir/shm"
+	mount --move /dev/shm "$tmp_dir/shm"
+	mkdir -p "$tmp_dir/mqueue"
+	mount --move /dev/mqueue "$tmp_dir/mqueue"
+	mkdir -p "$tmp_dir/pts"
+	mount --move /dev/pts "$tmp_dir/pts"
+	touch "$tmp_dir/console"
+	mount --move /dev/console "$tmp_dir/console"
+	umount /dev || true
+	mount --move "$tmp_dir" /dev
+
+	# Since the devpts is mounted with -o newinstance by Docker, we need to make
+	# /dev/ptmx point to its ptmx.
+	# ref: https://www.kernel.org/doc/Documentation/filesystems/devpts.txt
+	ln -sf /dev/pts/ptmx /dev/ptmx
+
+	# When using io.balena.features.sysfs the mount point will already exist
+	# we need to check the mountpoint first.
+	sysfs_dir='/sys/kernel/debug'
+
+	if ! mountpoint -q "$sysfs_dir"; then
+		mount -t debugfs nodev "$sysfs_dir"
+	fi
+
+}
+
+function start_udev()
+{
+	if [ "$UDEV" == "on" ]; then
+		if $PRIVILEGED; then
+			mount_dev
+			if command -v udevd &>/dev/null; then
+				unshare --net udevd --daemon &> /dev/null
+			else
+				unshare --net /lib/systemd/systemd-udevd --daemon &> /dev/null
+			fi
+			udevadm trigger &> /dev/null
+		else
+			echo "Unable to start udev, container must be run in privileged mode to start udev!"
+		fi
+	fi
+}
+
+function init()
+{
+	# echo error message, when executable file is passed but doesn't exist.
+	if [ -n "$1" ]; then
+		if CMD=$(command -v "$1" 2>/dev/null); then
+			shift
+			exec "$CMD" "$@"
+		else
+			echo "Command not found: $1"
+			exit 1
+		fi
+	fi
+}
+
+UDEV=$(echo "$UDEV" | awk '{print tolower($0)}')
+
+case "$UDEV" in
+	'1' | 'true')
+		UDEV='on'
+	;;
+esac
+
+start_udev
+init "$@"
+sleep 8
+startx

jetson-orin/Dockerfile

@@ -1,6 +1,19 @@
 # AGX Orin, Orin NX and Orin Nano use the same T234 platform, therefore base images can be used
 # interchangeably as long as nvidia.list contains the right apt repositoy
-FROM balenalib/jetson-orin-nano-devkit-nvme-ubuntu:jammy-20240401
+FROM ubuntu:jammy-20250404
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+  sudo \
+  ca-certificates \
+  findutils \
+  gnupg \
+  dirmngr \
+  inetutils-ping \
+  netbase \
+  curl \
+  udev \
+  kmod \
+  nano
 
 # Prevent apt-get prompting for input
 ENV DEBIAN_FRONTEND noninteractive
@@ -46,13 +59,13 @@ RUN \
    xterm
 
 ENV LD_LIBRARY_PATH=/usr/lib/aarch64-linux-gnu/tegra
-ENV UDEV=1
 
 # Prevent screen from turning off
 RUN echo "#!/bin/bash" > /etc/X11/xinit/xserverrc \
    && echo "" >> /etc/X11/xinit/xserverrc \
-   && echo 'exec /usr/bin/X -s 0 dpms' >> /etc/X11/xinit/xserverrc && \
-   echo 'modules=("tegra_drm" "nvidia_drm" "nvidia_modeset"); for module in "${modules[@]}"; do if lsmod | grep -q ${module} ; then echo "Found $module"; rmmod $module; fi; done; startxfce4 & sleep 5; modprobe tegra_drm; modprobe nvidia_drm; while [ 1 ]; do sleep 10; done; ' > /opt/startxfce.sh
+   && echo 'exec /usr/bin/X -s 0 dpms' >> /etc/X11/xinit/xserverrc
+
+
 
 ## If any apt packages install mesa-egl, it will overwrite the tegra-egl
 ## symlink and ld path, so the following command will ensure tegra-egl remains
@@ -110,5 +123,9 @@ RUN echo "#!/bin/bash" > /etc/X11/xinit/xserverrc \
 ## deviceQuery, CUDA Driver = CUDART, CUDA Driver Version = 12.6, CUDA Runtime Version = 12.6, NumDevs = 1
 ## Result = PASS
 
-CMD ["/bin/bash", "/opt/startxfce.sh"]
+COPY startxfce.sh /opt/startxfce.sh
+RUN chmod +x /opt/startxfce.sh
+COPY entry.sh /usr/bin/entry.sh
+RUN chmod +x /usr/bin/entry.sh
 
+CMD ["/bin/bash", "/usr/bin/entry.sh"]

jetson-orin/entry.sh

@@ -0,0 +1,70 @@
+#!/bin/bash
+
+echo "Starting entry script."
+
+# This command only works in privileged container
+tmp_mount='/tmp/_balena'
+mkdir -p "$tmp_mount"
+if mount -t devtmpfs none "$tmp_mount" &> /dev/null; then
+	PRIVILEGED=true
+	umount "$tmp_mount"
+else
+	PRIVILEGED=false
+fi
+rm -rf "$tmp_mount"
+
+function mount_dev()
+{
+	tmp_dir='/tmp/tmpmount'
+	mkdir -p "$tmp_dir"
+	mount -t devtmpfs none "$tmp_dir"
+	mkdir -p "$tmp_dir/shm"
+	mount --move /dev/shm "$tmp_dir/shm"
+	mkdir -p "$tmp_dir/mqueue"
+	mount --move /dev/mqueue "$tmp_dir/mqueue"
+	mkdir -p "$tmp_dir/pts"
+	mount --move /dev/pts "$tmp_dir/pts"
+	touch "$tmp_dir/console"
+	mount --move /dev/console "$tmp_dir/console"
+	umount /dev || true
+	mount --move "$tmp_dir" /dev
+
+	# Since the devpts is mounted with -o newinstance by Docker, we need to make
+	# /dev/ptmx point to its ptmx.
+	# ref: https://www.kernel.org/doc/Documentation/filesystems/devpts.txt
+	ln -sf /dev/pts/ptmx /dev/ptmx
+
+	# When using io.balena.features.sysfs the mount point will already exist
+	# we need to check the mountpoint first.
+	sysfs_dir='/sys/kernel/debug'
+
+	if ! mountpoint -q "$sysfs_dir"; then
+		mount -t debugfs nodev "$sysfs_dir"
+	fi
+
+}
+
+function start_udev()
+{
+	if [ "$UDEV" == "on" ]; then
+		if $PRIVILEGED; then
+			mount_dev
+			if command -v udevd &>/dev/null; then
+				unshare --net udevd --daemon &> /dev/null
+			else
+				unshare --net /lib/systemd/systemd-udevd --daemon &> /dev/null
+			fi
+			udevadm trigger &> /dev/null
+		else
+			echo "Unable to start udev, container must be run in privileged mode to start udev!"
+		fi
+	fi
+}
+
+UDEV='on'
+
+echo "Starting UDEV..."
+start_udev
+
+echo "Starting xfce script."
+exec /opt/startxfce.sh

jetson-orin/startxfce.sh

@@ -0,0 +1,33 @@
+#!/bin/bash
+
+# Ensure plymouth exited so that it won't hold /dev/fb0 open and tegra_drm can be unloaded
+DBUS_SYSTEM_BUS_ADDRESS=unix:path=/host/run/dbus/system_bus_socket \
+  dbus-send \
+  --system \
+  --print-reply \
+  --dest=org.freedesktop.systemd1 \
+  /org/freedesktop/systemd1 \
+  org.freedesktop.systemd1.Manager.StopUnit \
+  string:plymouth-quit.service string:replace
+
+# Prevent "Server is already active for display 0" error,
+# in case X was forcedly closed before
+rm -rf /tmp/.X0-lock* || true
+
+# Prevent black screen with cursor only
+rm -rf /root/.config/ || true
+
+modules=("tegra_drm" "nvidia_drm" "nvidia_modeset"); for module in "${modules[@]}";
+do
+    if lsmod | grep -q ${module} ; then
+        echo "Found $module"; rmmod $module;
+    fi;
+done;
+
+startxfce4 & sleep 5;
+
+modprobe tegra_drm;
+modprobe nvidia_drm;
+while [ 1 ]; do
+   sleep 10;
+done;