Dockerfile.arm64

ARG ROS_DISTRO="humble"

# cspell: ignore impactaky deno BUILDPLATFORM TARGETARCH

FROM --platform=${BUILDPLATFORM} impactaky/mc-ubuntu22.04-${TARGETARCH}-host:2.1.0 AS mimic-host
FROM ros:${ROS_DISTRO} as build-stage

SHELL ["/bin/bash", "-c"]
ENV DEBIAN_FRONTEND=noninteractive
ENV DEBCONF_NOWARNINGS=yes

COPY --from=mimic-host / /mimic-cross
RUN /mimic-cross/mimic-cross.deno/setup.sh

RUN --mount=type=cache,id=apt-cache-arm64,target=/var/cache/apt,sharing=locked \
    --mount=type=cache,id=apt-lib-arm64,target=/var/lib/apt,sharing=locked \
    sudo apt-get update && sudo apt-get -y install python3-pip python3-rospkg python3-rosdep software-properties-common ccache
# cspell: ignore kisak
RUN --mount=type=cache,id=apt-cache-arm64,target=/var/cache/apt,sharing=locked \
    --mount=type=cache,id=apt-lib-arm64,target=/var/lib/apt,sharing=locked \
    add-apt-repository ppa:kisak/kisak-mesa -y
RUN --mount=type=cache,id=apt-cache-arm64,target=/var/cache/apt,sharing=locked \
    --mount=type=cache,id=apt-lib-arm64,target=/var/lib/apt,sharing=locked \
    apt-get update && apt-get install libegl-mesa0 -y

RUN rm -f /etc/apt/apt.conf.d/docker-clean && \
    echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' > /etc/apt/apt.conf.d/keep-cache

WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator
COPY . $WORKDIR

WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/
RUN mkdir -p /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator/external
WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator
RUN vcs import external < dependency_${ROS_DISTRO}.repos
WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src
RUN --mount=type=cache,id=apt-cache-arm64,target=/var/cache/apt,sharing=locked \
    --mount=type=cache,id=apt-lib-arm64,target=/var/lib/apt,sharing=locked \
    source /opt/ros/${ROS_DISTRO}/setup.bash \
    && apt-get update \
    && rosdep install -iy --from-paths . --rosdistro ${ROS_DISTRO}

WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws

RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
    colcon build --symlink-install \
    --cmake-args \
    -DCMAKE_BUILD_TYPE=Release \
    -DBUILD_CPP_MOCK_SCENARIOS=ON
COPY ./docker-entrypoint.sh /
RUN chmod a+x /docker-entrypoint.sh

ENTRYPOINT ["/docker-entrypoint.sh"]