ARG ROS_DISTRO=humble
ARG UNDERLAY_WS=/rmp_ws
ARG TARGETPLATFORM


# This file should work for both amd64 and arm64 builds. Because segway did not release some source code we must copy some binaries for the specific architectures.
# That is why we must use some conditional statements to copy over the correct files during build process.
# Variable TARGETPLATFORM should be auomatically created during build process by docker.

########################################
# Base Image for Bot Mini Control #
########################################
FROM ros:${ROS_DISTRO} as base
ENV ROS_DISTRO=${ROS_DISTRO}
#ENV TARGETPLATFORM=$TARGETPLATFORM

SHELL ["/bin/bash", "-c"]

# Create Colcon workspace with external dependencies
RUN mkdir -p /rmp_ws/src
WORKDIR /rmp_ws/src
COPY dependencies.arm64.repos .
COPY dependencies.amd64.repos .

# Choose correct sources for architecture:
# Copy platform-specific files
# Use if condition to copy different files for different platforms
#RUN echo "TARGETPLATFORM is $TARGETPLATFORM"
RUN echo "Hardware platform is: $(uname -m)"
RUN uname -a

RUN echo "update base 22.08.2023-2"

RUN if [ "$(uname -m)" = "x86_64" ]; then \
  echo "Copying files for linux/amd64"; \
  mv dependencies.amd64.repos dependencies.repos; \
  else \
  echo "Copying files for linux/arm64"; \
  mv dependencies.arm64.repos dependencies.repos; \
  fi

#RUN vcs import < dependencies.repos
RUN vcs import < dependencies.repos;

# Build the base Colcon workspace, installing dependencies first.
WORKDIR /rmp_ws
RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
  && apt-get update -y \
  && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y

RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
  && colcon build --symlink-install

# Use Cyclone DDS as middleware and install xacro
RUN apt-get update && apt-get install -y --no-install-recommends \
  ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
  ros-${ROS_DISTRO}-xacro \
  && rm -rf /var/lib/apt/lists/*

ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

ENV UNDERLAY_WS=${UNDERLAY_WS}

# Set up the entrypoint
COPY ./docker/entrypoint.sh /
RUN chmod +x /entrypoint.sh

ENTRYPOINT [ "/entrypoint.sh" ]

###########################################
# Overlay Image for RMP Control #
###########################################
FROM base AS overlay

# Create an overlay Colcon workspace
RUN mkdir -p /overlay_ws/src
WORKDIR /overlay_ws/src
COPY overlay.repos .
RUN vcs import < overlay.repos

WORKDIR /overlay_ws

RUN echo "update overlay 22.08.2023"

RUN source /rmp_ws/install/setup.bash \
  && apt-get update \
  && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
  && rm -rf /var/lib/apt/lists/*

RUN source /rmp_ws/install/setup.bash \
  && colcon build --symlink-install

# Set up the entrypoint
COPY ./docker/entrypoint.sh /
RUN chmod +x /entrypoint.sh

ENTRYPOINT [ "/entrypoint.sh" ]

###########################################
# GUI Additions for Ros2 #
###########################################
FROM overlay AS guis

# Install additional GUI tools
RUN source /rmp_ws/install/setup.bash \
  && apt-get update \
  && apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-rviz2 \
  && rm -rf /var/lib/apt/lists/*

# Set up the entrypoint
ENTRYPOINT [ "/entrypoint.sh" ]

LABEL org.opencontainers.image.source=https://github.com/bjoernellens1/ros2_rmp