# syntax=docker/dockerfile:1
# ─────────────────────────────────────────────────────────────────────────────
# Raspbot V2 — robot deployment image
#
# Target:      Raspberry Pi 5  (linux/arm64)
# Build:       docker buildx build --platform linux/arm64 \
#                  -t raspbot-v2:latest -f Dockerfile.robot .
#
# Run:         docker run --rm -it \
#                  --network host \
#                  --device /dev/i2c-1 \
#                  raspbot-v2:latest
#
# Override CMD to pass launch arguments, e.g.:
#   docker run ... raspbot-v2:latest \
#       ros2 launch raspbot_v2_hardware hardware.launch.py enable_camera:=false
# ─────────────────────────────────────────────────────────────────────────────

ARG ROS_DISTRO=kilted

# ── Stage 1: build ───────────────────────────────────────────────────────────
FROM ros:${ROS_DISTRO}-ros-base AS builder
ARG ROS_DISTRO

RUN apt-get update && apt-get install -y --no-install-recommends \
        build-essential \
        cmake \
        python3-colcon-common-extensions \
        python3-rosdep \
        ros-${ROS_DISTRO}-hardware-interface \
        ros-${ROS_DISTRO}-pluginlib \
        ros-${ROS_DISTRO}-rclcpp \
    && rm -rf /var/lib/apt/lists/*

WORKDIR /ros2_ws

# raspbot_v2_sim is intentionally excluded — Gazebo is not needed on the robot
COPY src/raspbot_v2_bringup            src/raspbot_v2_bringup
COPY src/raspbot_v2_control            src/raspbot_v2_control
COPY src/raspbot_v2_description        src/raspbot_v2_description
COPY src/raspbot_v2_hardware           src/raspbot_v2_hardware
COPY src/raspbot_v2_hardware_interface src/raspbot_v2_hardware_interface

RUN . /opt/ros/${ROS_DISTRO}/setup.sh \
    && sudo apt-get update \
    && rosdep update --rosdistro ${ROS_DISTRO} \
    && rosdep install --from-paths src --ignore-src -r -y \
    && rm -rf /var/lib/apt/lists/*

RUN . /opt/ros/${ROS_DISTRO}/setup.sh \
 && colcon build \
        --cmake-args -DCMAKE_BUILD_TYPE=Release \
        --parallel-workers "$(nproc)"

# ── Stage 2: runtime ─────────────────────────────────────────────────────────
FROM ros:${ROS_DISTRO}-ros-base AS runtime
ARG ROS_DISTRO

RUN apt-get update && apt-get install -y --no-install-recommends \
        # I2C access for Yahboom MCU (motors, LEDs, servos, ultrasonic)
        python3-smbus \
        # ros2_control: controller_manager, hardware_interface, spawner CLI
        ros-${ROS_DISTRO}-ros2-control \
        # Standard controllers: MecanumDriveController, JointStateBroadcaster,
        # ForwardCommandController (pan/tilt)
        ros-${ROS_DISTRO}-ros2-controllers \
        # URDF/xacro processing and joint-state → TF broadcasting
        ros-${ROS_DISTRO}-robot-state-publisher \
        ros-${ROS_DISTRO}-xacro \
    && rm -rf /var/lib/apt/lists/*

COPY --from=builder /ros2_ws/install /ros2_ws/install

# Entrypoint sources both the ROS underlay and the workspace overlay
RUN echo '#!/bin/bash'                                          > /entrypoint.sh \
 && echo 'set -e'                                              >> /entrypoint.sh \
 && echo "source /opt/ros/${ROS_DISTRO}/setup.bash"            >> /entrypoint.sh \
 && echo 'source /ros2_ws/install/setup.bash'                  >> /entrypoint.sh \
 && echo 'exec "$@"'                                           >> /entrypoint.sh \
 && chmod +x /entrypoint.sh

ENTRYPOINT ["/entrypoint.sh"]
CMD ["ros2", "launch", "raspbot_v2_hardware", "hardware.launch.py"]