# =============================================================================
# RDC Simulation - Docker Build (GPU-enabled)
# =============================================================================
# Builds a complete ArduPilot + Gazebo simulation environment with GPU support.
# Your host system bashrc is NOT modified - everything stays in the container.
#
# Build:
#   docker build -t rdc-simulation .
#
# Run (with GPU):
#   docker run --gpus all -it --rm \
#     -e DISPLAY=$DISPLAY \
#     -v /tmp/.X11-unix:/tmp/.X11-unix \
#     rdc-simulation
#
# Or use docker-compose:
#   docker compose up
# =============================================================================

FROM ubuntu:24.04

# Avoid interactive prompts during build
ENV DEBIAN_FRONTEND=noninteractive
ENV TZ=UTC

# =============================================================================
# SYSTEM DEPENDENCIES
# =============================================================================
RUN apt-get update && apt-get install -y \
    # Build tools
    curl \
    wget \
    git \
    cmake \
    build-essential \
    gnupg \
    lsb-release \
    software-properties-common \
    # Python
    python3 \
    python3-pip \
    python3-venv \
    python3-dev \
    # Graphics / X11
    libgl1-mesa-glx \
    libgl1-mesa-dri \
    mesa-utils \
    x11-apps \
    # Video recording
    ffmpeg \
    xdotool \
    wmctrl \
    # Networking
    netcat-openbsd \
    # GStreamer (for ArduPilot Gazebo plugin)
    libgstreamer1.0-dev \
    libgstreamer-plugins-base1.0-dev \
    gstreamer1.0-plugins-bad \
    gstreamer1.0-libav \
    gstreamer1.0-gl \
    # OpenCV
    libopencv-dev \
    && rm -rf /var/lib/apt/lists/*

# =============================================================================
# ROS 2 JAZZY
# =============================================================================
RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu noble main" > /etc/apt/sources.list.d/ros2.list \
    && apt-get update \
    && apt-get install -y \
        ros-jazzy-ros-base \
        ros-jazzy-geometry-msgs \
        ros-jazzy-std-msgs \
        ros-jazzy-nav-msgs \
        ros-jazzy-sensor-msgs \
        ros-jazzy-ros-gz \
    && rm -rf /var/lib/apt/lists/*

# =============================================================================
# GAZEBO HARMONIC
# =============================================================================
RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable noble main" > /etc/apt/sources.list.d/gazebo-stable.list \
    && apt-get update \
    && apt-get install -y gz-harmonic \
    && rm -rf /var/lib/apt/lists/*

# =============================================================================
# CREATE NON-ROOT USER
# =============================================================================
ARG USERNAME=pilot
ARG USER_UID=1000
ARG USER_GID=1000

RUN groupadd --gid $USER_GID $USERNAME \
    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
    && apt-get update \
    && apt-get install -y sudo \
    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
    && chmod 0440 /etc/sudoers.d/$USERNAME \
    && rm -rf /var/lib/apt/lists/*

USER $USERNAME
WORKDIR /home/$USERNAME

# =============================================================================
# ARDUPILOT SITL
# =============================================================================
RUN git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git /home/$USERNAME/ardupilot

# Install ArduPilot prerequisites (writes to container's bashrc, not host)
WORKDIR /home/$USERNAME/ardupilot
RUN Tools/environment_install/install-prereqs-ubuntu.sh -y

# Build ArduCopter SITL
RUN . ~/.profile && ./waf configure --board sitl && ./waf copter

# =============================================================================
# ARDUPILOT GAZEBO PLUGIN
# =============================================================================
RUN git clone https://github.com/ArduPilot/ardupilot_gazebo.git /home/$USERNAME/ardupilot_gazebo

WORKDIR /home/$USERNAME/ardupilot_gazebo
RUN mkdir -p build && cd build \
    && cmake .. -DCMAKE_BUILD_TYPE=Release \
    && make -j$(nproc)

# =============================================================================
# PYTHON DEPENDENCIES (MAVProxy, pymavlink)
# =============================================================================
RUN pip3 install --user --break-system-packages pymavlink mavproxy pexpect pybullet numpy pillow opencv-python

# =============================================================================
# COPY PROJECT FILES
# =============================================================================
WORKDIR /home/$USERNAME/RDC_Simulation
COPY --chown=$USERNAME:$USERNAME . .

# Create venv and install requirements
RUN python3 -m venv venv \
    && . venv/bin/activate \
    && pip install --upgrade pip \
    && pip install -r requirements.txt

# =============================================================================
# ENVIRONMENT SETUP (container only - doesn't touch host)
# =============================================================================
ENV ARDUPILOT_HOME=/home/pilot/ardupilot
ENV PATH="${PATH}:/home/pilot/ardupilot/Tools/autotest:/home/pilot/.local/bin"
ENV GZ_SIM_SYSTEM_PLUGIN_PATH=/home/pilot/ardupilot_gazebo/build
ENV GZ_SIM_RESOURCE_PATH=/home/pilot/ardupilot_gazebo/models:/home/pilot/ardupilot_gazebo/worlds:/home/pilot/RDC_Simulation/gazebo/models

# Source ROS2 and ArduPilot env in bashrc (container's bashrc, not host)
RUN echo 'source /opt/ros/jazzy/setup.bash' >> ~/.bashrc \
    && echo 'source ~/.ardupilot_env 2>/dev/null || true' >> ~/.bashrc \
    && echo 'source ~/RDC_Simulation/venv/bin/activate' >> ~/.bashrc \
    && echo 'export ARDUPILOT_HOME=~/ardupilot' >> ~/.bashrc \
    && echo 'export PATH=$PATH:~/ardupilot/Tools/autotest:~/.local/bin' >> ~/.bashrc \
    && echo 'export GZ_SIM_SYSTEM_PLUGIN_PATH=~/ardupilot_gazebo/build' >> ~/.bashrc \
    && echo 'export GZ_SIM_RESOURCE_PATH=~/ardupilot_gazebo/models:~/ardupilot_gazebo/worlds:~/RDC_Simulation/gazebo/models' >> ~/.bashrc

# =============================================================================
# ENTRYPOINT
# =============================================================================
COPY --chown=$USERNAME:$USERNAME docker-entrypoint.sh /home/$USERNAME/docker-entrypoint.sh
RUN chmod +x /home/$USERNAME/docker-entrypoint.sh

WORKDIR /home/$USERNAME/RDC_Simulation
ENTRYPOINT ["/home/pilot/docker-entrypoint.sh"]
CMD ["bash"]