FROM osrf/ros:jazzy-desktop-full AS base-ros-nvim
ENV DEBIAN_FRONTEND=noninteractive
RUN apt-get update \
    && apt-get -y install --no-install-recommends apt-utils dialog 2>&1 \
    && apt-get install -y \
    gdb \
    gdbserver \
    ripgrep \
    ninja-build \
    gettext \
    cmake \
    unzip \
    curl \
    clang-format \
    xclip \
    wl-clipboard \
    breeze \
    && mkdir -p /etc/apt/keyrings \
    && curl -fsSL https://deb.nodesource.com/gpgkey/nodesource-repo.gpg.key | gpg --dearmor -o /etc/apt/keyrings/nodesource.gpg \
    && NODE_MAJOR=20 \
    && echo "deb [signed-by=/etc/apt/keyrings/nodesource.gpg] https://deb.nodesource.com/node_$NODE_MAJOR.x nodistro main" | tee /etc/apt/sources.list.d/nodesource.list \
    && apt update \
    && apt-get remove nodejs \
    && apt-get install nodejs \
    && git clone https://github.com/neovim/neovim.git \
    && cd neovim && git checkout stable && make CMAKE_BUILD_TYPE=RelWithDebInfo \
    && sudo make install \
    && apt-get autoremove -y \
    && apt-get clean -y \
    && rm -rf /var/lib/apt/lists/*
    

FROM base-ros-nvim AS base-ros-nvim-graphics
ARG ROS_DISTR=jazzy
ENV ROS_DISTR=$ROS_DISTR
ENV NVIDIA_VISIBLE_DEVICES \
    ${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES \
    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics

RUN apt-get update \
    #&& apt-get -y install --no-install-recommends apt-utils dialog 2>&1 \
    && apt-get install -y \
    software-properties-common \
    #&& add-apt-repository -y ppa:inivation-ppa/inivation \
    && rm -rf /var/lib/apt/lists/*

RUN apt-get update \
    && apt-get -y install --no-install-recommends apt-utils dialog 2>&1 \
    && apt-get install -y \
    libgl1-mesa-dri \
    libgl1-mesa-glx \
    # libglx-mesa0 \
    mesa-utils \
    mesa-utils-extra \
    python3-pip \
    python3-venv \
    avahi-daemon \
    avahi-utils \
    libnss-mdns \
    iputils-ping \
    sudo \
    wget \
    #dv-processing \
    #dv-runtime-dev \
    libserial-dev \
    nlohmann-json3-dev \
    ros-${ROS_DISTR}-rqt-tf-tree \
    ros-${ROS_DISTR}-apriltag \
    ros-${ROS_DISTR}-plotjuggler-ros \
    ros-${ROS_DISTR}-tf-transformations \
    ros-${ROS_DISTR}-topic-tools \
    ros-${ROS_DISTR}-rviz-2d-overlay-plugins \
    ros-${ROS_DISTR}-simple-launch \
    ros-${ROS_DISTR}-slider-publisher \ # used for gripper tests
    pre-commit \
    # && pip3 install transforms3d \
#   && rosdep install --from-paths /ros2_underlay/src -y --ignore-src \
#   && rosdep install --from paths /ros2/src -y --ignore-src \
    && apt-get autoremove -y \
    && apt-get clean -y \
    && rm -rf /var/lib/apt/lists/*

FROM base-ros-nvim-graphics AS individual
ARG USERNAME=ros-user
ARG USER_UID=1000
ARG USER_GID=$USER_UID

RUN userdel -r ubuntu; \
    groupadd --gid $USER_GID $USERNAME \
    && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
    && chmod 0440 /etc/sudoers.d/$USERNAME

USER ${USERNAME}
ENV TERM xterm-256color
RUN sh -c "$(wget -O- https://github.com/deluan/zsh-in-docker/releases/download/v1.1.1/zsh-in-docker.sh)" -- \
    -p https://github.com/zsh-users/zsh-autosuggestions \
    -p git \
    -t "" \
    -a 'fpath+=$HOME/.zsh/pure' \
    -a 'autoload -U promptinit; promptinit' \
    -a 'prompt pure' \
    -a "export TERM=xterm-256color" \
    -a "zstyle ':prompt:pure:path' color 075" \
    -a "zstyle ':prompt:pure:prompt:success' color 214" \
    -a "zstyle ':prompt:pure:user' color 119" \
    -a "zstyle ':prompt:pure:host' color 119" \
    -a "ZSH_AUTOSUGGEST_HIGHLIGHT_STYLE='fg=161'" \
    -a 'PATH=$PATH:$HOME/.local/bin' \
    -a 'export HISTFILE=/zsh_history/.zsh_history' \
    -a 'export TERM=xterm-256color' \
    -a 'export COLORTERM=truecolor' \
    && mkdir -p "$HOME/.zsh" \
    && git clone https://github.com/sindresorhus/pure.git "$HOME/.zsh/pure" \
    && echo "source /opt/ros/$ROS_DISTR/setup.zsh" >> /home/$USERNAME/.zshrc \
    # && pip3 install yapf pre-commit ruff \
    && git clone https://github.com/HippoCampusRobotics/hippo_core.git "$HOME/hippo_core" \
    && ls $HOME/hippo_core/hippo_common/scripts \
    && $HOME/hippo_core/hippo_common/scripts/install_scripts.sh \
    && sudo wget https://hippocampusrobotics.github.io/docs/_downloads/6055b3168d4f0a8cd764ebc481280219/ros-iron-px4-msgs_2.0.1-0jammy_amd64.deb \
    # && sudo wget https://hippocampusrobotics.github.io/docs/_downloads/286cb880b68d2c4b6c6d9e6730fab199/ros-jazzy-px4-msgs_2.0.1-0noble_amd64.deb \
    # && sudo apt-get install ./ros-${ROS_DISTR}-px4-msgs_2.0.1-0noble_amd64.deb \
    && sudo apt-get install ./ros-${ROS_DISTR}-px4-msgs_2.0.1-0jammy_amd64.deb \
    && sudo apt install asciinema \
    && sudo apt-get autoremove -y \
    && sudo apt-get clean -y \
    && sudo rm -rf /var/lib/apt/lists/*

USER root
RUN mkdir /zsh_history \
    && touch /zsh_history/.zsh_history \
    && chown -R $USERNAME /zsh_history
RUN mkdir -p /home/$USERNAME/.cache/pre-commit \
    && chown -R $USERNAME /home/$USERNAME/.cache/pre-commit
RUN mkdir -p /home/$USERNAME/.local/bin \
    && chown -R $USERNAME /home/$USERNAME/.local/bin
ADD ros2-vim/nvim /home/$USERNAME/.config/nvim
RUN chown -R $USERNAME /home/$USERNAME/
USER ${USERNAME}
RUN nvim --headless "+Lazy! sync" +qa
RUN nvim --headless +"MasonInstall lua-language-server clangd python-lsp-server yaml-language-server yapf" +q
WORKDIR /home/$USERNAME

USER root
ADD ros2-vim/entrypoint.sh /entrypoint.sh
RUN chmod +x /entrypoint.sh
RUN chown $USERNAME /entrypoint.sh
USER ${USERNAME}
# Switch back to dialog for any ad-hoc use of apt-get
ENV DEBIAN_FRONTEND=dialog
CMD [ "/usr/bin/zsh"]