FROM osrf/ros:jazzy-desktop-full

RUN apt-get update
RUN apt-get -y install qterminal mesa-utils \
    libgstreamer1.0-dev \
    libgstreamer-plugins-base1.0-dev \
    docker-compose \
    python3.12-venv \
    python3-pip \
    gstreamer1.0-libav \
    gstreamer1.0-gl \
    gstreamer1.0-plugins-good \
    gstreamer1.0-plugins-bad \
    gstreamer1.0-plugins-ugly 


COPY --from=git.spirirobotics.com/spiri/gazebo-resources:main /plugins /ardupilot_gazebo/plugins
COPY --from=git.spirirobotics.com/spiri/gazebo-resources:main /models /ardupilot_gazebo/models
COPY --from=git.spirirobotics.com/spiri/gazebo-resources:main /worlds /ardupilot_gazebo/worlds

ENV GZ_SIM_SYSTEM_PLUGIN_PATH=/ardupilot_gazebo/plugins
ENV GZ_SIM_RESOURCE_PATH=/ardupilot_gazebo/models:/ardupilot_gazebo/worlds

COPY ./gz_entrypoint.sh /gz_entrypoint.sh
RUN chmod +x /gz_entrypoint.sh

WORKDIR /app

RUN python3 -m venv /opt/venv
ENV PATH="/opt/venv/bin:$PATH"

RUN pip3 install poetry

COPY ./pyproject.toml ./poetry.lock ./README.md ./
COPY ./spiri_sdk_guitools ./spiri_sdk_guitools

RUN poetry env use python3
RUN poetry config virtualenvs.create false && poetry install --no-dev --no-interaction --no-ansi



CMD poetry run python3 spiri_sdk_guitools/launcher.py