# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program.  If not, see <https://www.gnu.org/licenses/>.

ARG ROS_ARCHITECTURE_VERSION=latest

FROM ronaldsonbellande/bellande_robotic_environment_ros2:latest
SHELL ["/bin/bash", "-c"]

ENV DEBIAN_FRONTEND noninteractive
ENV PYTHON_VERSION="3.8"

ARG ROS_ARCHITECTURE_VERSION_GIT_BRANCH=main
ARG ROS_ARCHITECTURE_VERSION_GIT_COMMIT=HEAD

ENV ROS_VERSION=foxy
ENV COLCON_WS=/opt/ros/overlay_ws

LABEL maintainer=ronaldsonbellande@gmail.com
LABEL author=ronaldsonbellande@gmail.com
LABEL ROS_architecture_github_branchtag=${ROS_ARCHITECTURE_VERSION_GIT_BRANCH}
LABEL ROS_architecture_github_commit=${ROS_ARCHITECTURE_VERSION_GIT_COMMIT}

# Install necessary tools
RUN apt-get update && \
  apt-get install -y python3-colcon-common-extensions python3-rosdep

# Initialize rosdep if not already initialized
RUN if [ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]; then \
  rosdep init; \
  fi && \
  rosdep update --include-eol-distros || \
  { echo "Retrying rosdep update..."; sleep 5; rosdep update --include-eol-distros; }

# Create local colcon workspace
RUN mkdir -p $COLCON_WS/src

# Copy Every Package
COPY ../ ${COLCON_WS}/src

# Set the working directory for Colcon
WORKDIR $COLCON_WS

# Source ROS setup.bash
RUN echo "source /opt/ros/$ROS_VERSION/setup.bash" >> ~/.bashrc
RUN /bin/bash -c "source /opt/ros/$ROS_VERSION/setup.bash"

# Install dependencies using rosdep
RUN /bin/bash -c "source /opt/ros/$ROS_VERSION/setup.bash && \
  cd $COLCON_WS && \
  rosdep update && \
  rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_VERSION"

# Build the workspace using colcon
RUN /bin/bash -c "source /opt/ros/$ROS_VERSION/setup.bash && \
  cd $COLCON_WS && \
  colcon build --event-handlers console_cohesion+"

# Always source colcon_setup.sh when launching bash
COPY ../scripts/colcon_setup.sh /usr/local/bin/colcon_setup.sh
RUN echo "source /usr/local/bin/colcon_setup.sh" >> /root/.bashrc && \
  chmod +x /usr/local/bin/colcon_setup.sh

# Run colcon setup script
RUN /usr/local/bin/colcon_setup.sh
CMD ["/bin/bash"]