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Then somehow we will ultimately need to walk through everything they are building in their aosp image that we don't need and prune that stuff out somehow.
The first thing we did is the manual version of the script you pointed us to. Then somehow reference the board manufacturers' /device and /vendor TOP directories. Then we thought we could simply use the overlay mechanism to add the libraries and application for our product to the board vendor's aosp image. But this is resulting in a bunch of errors.We also tried the brute force approach - basically copying over files from the /device/<company> directory into our device/<ourcompany> directory until we can build an image. We did manage to get that to work, but we don't know if that is what we're supposed to do or not. It works, but if the board vendor changes anything in their build environment, we would need to go through an iteration of figuring out which files changed and then change those things in our directory - because of this, it feels like this is not the right approach.
What's missing is a good example of how a company is supposed to use the build environment for a board that has already created an Android AOSP image and simply add their modules to create the image for their product. IT seems like this should be very simple, but we haven't come across the magic formula yet.