# syntax=docker/dockerfile:1

# ── Stage 1: build ────────────────────────────────────────────────────────────
FROM ros:kilted AS builder

RUN apt-get update && apt-get install -y --no-install-recommends \
    python3-colcon-common-extensions \
    python3-pip \
    ros-${ROS_DISTRO}-ament-cmake-python \
    && rm -rf /var/lib/apt/lists/*

WORKDIR /ws

# Install the vendored Raspbot hardware library
COPY raspbot_v2_interface/ raspbot_v2_interface/
# PEP 668: newer Debian/Ubuntu marks the system Python as externally managed and blocks pip
# by default. --break-system-packages overrides this; safe here as the container is isolated.
RUN pip3 install --no-cache-dir --break-system-packages ./raspbot_v2_interface

# Copy the ROS package into the standard colcon src/ layout and build it
COPY package.xml setup.py setup.cfg CMakeLists.txt src/my_robot/
COPY my_robot/ src/my_robot/my_robot/

RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \
    colcon build --packages-select my_robot

# ── Stage 2: runtime ──────────────────────────────────────────────────────────
FROM ros:kilted-ros-core

RUN apt-get update && apt-get install -y --no-install-recommends \
    ros-${ROS_DISTRO}-rclpy \
    ros-${ROS_DISTRO}-geometry-msgs \
    ros-${ROS_DISTRO}-std-msgs \
    && rm -rf /var/lib/apt/lists/*

# Bring across the installed Raspbot library and the built ROS overlay
COPY --from=builder /usr/local/lib /usr/local/lib
COPY --from=builder /ws/install /ws/install

# Source both ROS base and the workspace overlay on every shell/exec
RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc && \
    echo "source /ws/install/setup.bash"             >> /etc/bash.bashrc

COPY docker-entrypoint.sh /docker-entrypoint.sh
RUN chmod +x /docker-entrypoint.sh

ENTRYPOINT ["/docker-entrypoint.sh"]
CMD ["ros2", "run", "my_robot", "motor_controller"]