From b242f1931be2b0e6ba631df345d2f89613a242e1 Mon Sep 17 00:00:00 2001
From: AskewParity <chrisdenglee@gmail.com>
Date: Tue, 16 Sep 2025 22:15:07 -0400
Subject: [PATCH 1/3] chore: pull prebuilt version of libtorch

---
 docker/Dockerfile.x86 | 56 +++++++------------------------------------
 1 file changed, 9 insertions(+), 47 deletions(-)

diff --git a/docker/Dockerfile.x86 b/docker/Dockerfile.x86
index a4f5d98b..9216538f 100644
--- a/docker/Dockerfile.x86
+++ b/docker/Dockerfile.x86
@@ -86,50 +86,12 @@ RUN --mount=target=/var/lib/apt/lists,type=cache,sharing=locked \
 ARG LIBTORCH_VERSION=2.1.0
 ARG LIBTORCH_INSTALL_DIR=/libtorch-tmp
 WORKDIR ${LIBTORCH_INSTALL_DIR}
-RUN git clone -b main --recurse-submodule https://github.com/pytorch/pytorch.git
-RUN mkdir pytorch-build
-RUN cd pytorch-build
-RUN USE_CUDA=0 \
-    USE_CUDNN=0 \
-    USE_NCCL=0 \
-    BUILD_TORCH=ON \
-    USE_MKLDNN=0 \
-    USE_ROCM=0 \
-    USE_KINETO=0 \
-    USE_NNPACK=1 \
-    BUILD_CAFFE2_OPS=0 \
-    BUILD_CAFFE2=0 \
-    cmake \
-    # don't need cuda, for now...
-    -DUSE_CUDA=0 \
-    # disable cudnn
-    -DUSE_CUDNN=0 \
-    # disable multigpu
-    -DUSE_NCCL=0 \
-    -DBUILD_TORCH=ON \
-    -DUSE_MKLDNN=0 \
-    -DUSE_ROCM=0 \
-    -DUSE_KINETO=0 \
-    -DUSE_NNPACK=1 \
-    -DBUILD_CAFFE2_OPS=0 \
-    -DBUILD_CAFFE2=0 \
-    -D_GLIBCXX_USE_CXX11_ABI=1 \
-    -DBUILD_SHARED_LIBS:BOOL=ON \
-    -DCMAKE_BUILD_TYPE:STRING=Release \
-    -DPYTHON_EXECUTABLE:PATH=`which python3` \
-    -DCMAKE_PREFIX_PATH=../pytorch-install \
-    ${LIBTORCH_INSTALL_DIR}/pytorch
-RUN USE_CUDA=0 \
-    USE_CUDNN=0 \
-    USE_NCCL=0 \
-    BUILD_TORCH=ON \
-    USE_MKLDNN=0 \
-    USE_ROCM=0 \
-    USE_KINETO=0 \
-    USE_NNPACK=1 \
-    BUILD_CAFFE2_OPS=0 \
-    BUILD_CAFFE2=0 \
-    cmake --build . --target install
+WORKDIR /tmp
+RUN wget https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-${LIBTORCH_VERSION}%2Bcpu.zip \
+    && unzip libtorch-cxx11-abi-shared-with-deps-${LIBTORCH_VERSION}+cpu.zip \
+    && mv libtorch ${LIBTORCH_INSTALL_DIR} \
+    && rm libtorch-cxx11-abi-shared-with-deps-${LIBTORCH_VERSION}+cpu.zip
+
 
 ENV CMAKE_PREFIX_PATH="${LIBTORCH_INSTALL_DIR}/libtorch"
 
@@ -143,7 +105,7 @@ RUN wget "https://github.com/pytorch/vision/archive/refs/tags/v${TORCHVISION_VER
     && mkdir -p "${TORCHVISION_INSTALL_DIR}/vision-${TORCHVISION_VERSION}/build" \
     && cd "${TORCHVISION_INSTALL_DIR}/vision-${TORCHVISION_VERSION}/build" \
     && cmake -DWITH_CUDA=off -D_GLIBCXX_USE_CXX11_ABI=1 -DCMAKE_BUILD_TYPE=Release .. \
-    && make -j2 \
+    && make -j$(nproc) \
     && make install
 
 # install MAVSDK from source
@@ -151,10 +113,10 @@ RUN git clone --depth 1 https://github.com/mavlink/MAVSDK.git --branch v2.9.1 --
     && cd MAVSDK \
     && git submodule update --init --recursive \
     && cmake -DCMAKE_BUILD_TYPE=Release -Bbuild/default -H. \
-    && cmake --build build/default -j2 --target install
+    && cmake --build build/default -j$(nproc) --target install
 
 RUN pip3 install gdown
-ENV PATH="${PATH}:${HOME}/.local/bin"
+ENV PATH="${PATH}:${HOME}/.local/binn"
 
 # login as non-root user
 USER $USERNAME

From df4f7bfc6ec6e292edc8af031d7fd37113c5c960 Mon Sep 17 00:00:00 2001
From: AskewParity <chrisdenglee@gmail.com>
Date: Tue, 16 Sep 2025 22:15:42 -0400
Subject: [PATCH 2/3] chore: ensure that we use our version of protoc instead
 of another library's

---
 deps/protobuf/protobuf.cmake | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/deps/protobuf/protobuf.cmake b/deps/protobuf/protobuf.cmake
index b7e7215c..507e95c0 100644
--- a/deps/protobuf/protobuf.cmake
+++ b/deps/protobuf/protobuf.cmake
@@ -1,5 +1,7 @@
 function(target_add_protobuf target_name)
     include(FindProtobuf)
+    set(PROTOBUF_LIBRARY /usr/lib/x86_64-linux-gnu/libprotobuf.so CACHE FILEPATH "System protobuf lib")
+    set(Protobuf_LIBRARIES ${PROTOBUF_LIBRARY})
     find_package(Protobuf REQUIRED)
 
     target_include_directories(${target_name} PRIVATE ${PROTOBUF_INCLUDE_DIR})

From 5807144c0806211a0c64c2697d86a6ff9e60b849 Mon Sep 17 00:00:00 2001
From: Christopher Lee <chrisdenglee@gmail.com>
Date: Thu, 18 Sep 2025 15:51:40 -0500
Subject: [PATCH 3/3] fix: protobuf dependency imports are architecture
 specific

---
 deps/protobuf/protobuf.cmake | 18 +++++++++++++++++-
 1 file changed, 17 insertions(+), 1 deletion(-)

diff --git a/deps/protobuf/protobuf.cmake b/deps/protobuf/protobuf.cmake
index 507e95c0..69d0f017 100644
--- a/deps/protobuf/protobuf.cmake
+++ b/deps/protobuf/protobuf.cmake
@@ -1,6 +1,22 @@
 function(target_add_protobuf target_name)
     include(FindProtobuf)
-    set(PROTOBUF_LIBRARY /usr/lib/x86_64-linux-gnu/libprotobuf.so CACHE FILEPATH "System protobuf lib")
+    
+    # Find the appropriate protobuf library for the current architecture
+    find_library(PROTOBUF_LIBRARY
+        NAMES protobuf
+        PATHS /usr/lib /usr/lib/x86_64-linux-gnu /usr/lib/aarch64-linux-gnu /usr/lib/arm-linux-gnueabihf
+        NO_DEFAULT_PATH
+    )
+    
+    # Fallback to system default search
+    if(NOT PROTOBUF_LIBRARY)
+        find_library(PROTOBUF_LIBRARY NAMES protobuf)
+    endif()
+    
+    if(NOT PROTOBUF_LIBRARY)
+        message(FATAL_ERROR "Could not find protobuf library")
+    endif()
+    
     set(Protobuf_LIBRARIES ${PROTOBUF_LIBRARY})
     find_package(Protobuf REQUIRED)