# Gazebo Harmonic + Betaflight SITL simulation container
# Provides a complete simulation environment for testing Betaflight firmware
# without physical hardware.
#
# Communication:
#   SITL ←→ Gazebo via UDP (ports 9002/9003)
#   SITL ←→ Configurator via TCP/WebSocket (port 5761/6761)
#   SITL ←→ RC input via UDP (port 9004)

FROM ubuntu:24.04

ENV DEBIAN_FRONTEND=noninteractive

# Base tools
RUN apt-get update && \
    apt-get install -y --no-install-recommends \
    locales \
    git \
    ca-certificates \
    curl \
    wget \
    sudo \
    bash \
    bash-completion \
    nano \
    btop \
    build-essential \
    cmake \
    pkg-config \
    clang-18 \
    python3 \
    python3-pip \
    python3-websockify \
    && rm -rf /var/lib/apt/lists/*

# Generate locale
RUN sed -i 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && \
    locale-gen

ENV LANG=en_US.UTF-8 \
    LANGUAGE=en_US:en \
    LC_ALL=en_US.UTF-8

# Install cppzmq before Gazebo repo (needed for gz-transport linking)
RUN apt-get update && \
    apt-get install -y --no-install-recommends cppzmq-dev && \
    rm -rf /var/lib/apt/lists/*

# Install Gazebo Harmonic from OSRF packages
RUN curl -fsSL https://packages.osrfoundation.org/gazebo.gpg | \
    dd of=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg && \
    echo "deb [arch=amd64 signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable noble main" | \
    tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null && \
    apt-get update && \
    apt-get install -y --no-install-recommends \
    gz-harmonic \
    libgz-sim8-dev \
    libgz-plugin2-dev \
    libgz-math7-dev \
    libgz-transport13-dev \
    libgz-msgs10-dev \
    && rm -rf /var/lib/apt/lists/*

# Betaflight firmware build dependencies (for SITL target)
RUN apt-get update && \
    apt-get install -y --no-install-recommends \
    python-is-python3 \
    libblocksruntime-dev \
    xxd \
    && rm -rf /var/lib/apt/lists/*

# Set clang alternatives
RUN update-alternatives --install /usr/bin/clang clang /usr/bin/clang-18 100 && \
    update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-18 100

# Reuse Ubuntu's default user (UID/GID 1000) or create devpod
ARG USERNAME=devpod

RUN if id -u 1000 >/dev/null 2>&1; then \
        EXISTING=$(id -nu 1000) && \
        usermod -l $USERNAME -d /home/$USERNAME -m $EXISTING 2>/dev/null || true && \
        groupmod -n $USERNAME $(id -gn 1000) 2>/dev/null || true; \
    else \
        groupadd --gid 1000 $USERNAME && \
        useradd --uid 1000 --gid 1000 -m $USERNAME --shell /bin/bash; \
    fi && \
    echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers

USER $USERNAME

# Clone and build the Betaflight Gazebo bridge plugin
ARG AEROLOOP_REF=a6c16d2d653932a96ced279522ba39b6da15f78c
RUN git clone --branch gz https://github.com/betaflight/aeroloop_gazebo.git /home/$USERNAME/aeroloop_gazebo && \
    cd /home/$USERNAME/aeroloop_gazebo && \
    git checkout "$AEROLOOP_REF" && \
    cd plugins && \
    mkdir build && cd build && \
    cmake .. && \
    make -j$(nproc)

# Set Gazebo environment for aeroloop models and plugins
ENV SDF_PATH="/home/$USERNAME/aeroloop_gazebo/models"
ENV GZ_SIM_RESOURCE_PATH="/home/$USERNAME/aeroloop_gazebo/worlds"
ENV GZ_SIM_SYSTEM_PLUGIN_PATH="/home/$USERNAME/aeroloop_gazebo/plugins/build"

WORKDIR /workspace

# Default: start bash (user launches SITL + Gazebo manually)
CMD [ "bash" ]