FROM ubuntu:18.04



ENV DEBIAN_FRONTEND noninteractive
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8

RUN apt-get update && apt-get install -y gnupg


#RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub
#RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/7fa2af80.pub



RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
		sudo \
		nano \
		gedit \
		net-tools \
		iputils-* \
		bash-completion \
		autotools-dev \
		dh-autoreconf \
		bzip2 \
		ca-certificates \
		ccache \
		cmake \
		cppcheck \
		curl \
		dirmngr \
		doxygen \
		file \
		g++ \
		gcc \
		gdb \
		git \
		gnupg \
		gosu \
		lcov \
		libfreetype6-dev \
		libgtest-dev \
		libpng-dev \
		lsb-release \
		make \
		ninja-build \
		openjdk-8-jdk \
		openjdk-8-jre \
		openssh-client \
		pkg-config \
		python-pip \
		python-pygments \
		python-setuptools \
		python-wstool \
		python3-dev \
		python3-pip \
		python3-pygments \
		python3-setuptools \
		locate \
		rsync \
		shellcheck \
		tzdata \
		unzip \
		wget \
		xsltproc \
		zip \
                xterm \
                vim \
	&& apt-get -y autoremove \
	&& apt-get clean autoclean \
	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*

RUN python -m pip install --upgrade pip \
	&& pip install setuptools pkgconfig wheel \
	&& pip install argparse argcomplete coverage jinja2 empy numpy requests serial toml pyyaml cerberus

# Python 3 dependencies installed by pip
RUN pip3 install argparse argcomplete coverage cerberus empy jinja2 \
		matplotlib==3.0.* numpy pkgconfig pyros-genmsg pyulog pyyaml \
		requests serial toml pyulog wheel


# create arrow with id 1000 with sudo access
RUN useradd --shell /bin/bash -u 1000 -c "" -m arrow && usermod -a -G dialout arrow && echo "arrow:arrow" | chpasswd && adduser arrow sudo
RUN sed -i '/force_color_prompt/s/^#//g' ~/.bashrc
RUN sed -i '/force_color_prompt/s/^#//g' /home/arrow/.bashrc

# setup virtual X server
RUN mkdir /tmp/.X11-unix && \
	chmod 1777 /tmp/.X11-unix && \
	chown -R root:root /tmp/.X11-unix
ENV DISPLAY :99

ENV CCACHE_UMASK=000
ENV FASTRTPSGEN_DIR="/usr/local/bin/"
ENV PATH="/usr/lib/ccache:$PATH"
ENV TERM=xterm
ENV TZ=UTC

RUN echo "source /etc/profile.d/bash_completion.sh" >> /home/arrow/.bashrc

# SITL UDP PORTS
EXPOSE 14556/udp
EXPOSE 14557/udp


#start of ros install
ENV ROS_DISTRO melodic
ARG TOKEN


RUN echo "arrow" | sudo  -S apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub

RUN echo "arrow" | sudo  -S  apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/7fa2af80.pub
RUN pip3 install --upgrade pip

RUN wget --quiet http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - \
	&& sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -sc` main" > /etc/apt/sources.list.d/gazebo-stable.list' \
	&& apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 \
	&& sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list' \
	&& sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-shadow.list' \
	&& curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - \
	&& apt-get update \
	&& apt-get -y upgrade \
	&& apt-get -y dist-upgrade \
	&& DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
		ant \
		gazebo9 \
		gstreamer1.0-plugins-bad \
		gstreamer1.0-plugins-base \
		gstreamer1.0-plugins-good \
		gstreamer1.0-plugins-ugly \
		libeigen3-dev \
		libgazebo9-dev \
		libgstreamer-plugins-base1.0-dev \
		libimage-exiftool-perl \
		libopencv-dev \
		libxml2-utils \
		pkg-config \
		protobuf-compiler \
	  geographiclib-tools \
		libeigen3-dev \
		libgeographic-dev \
		libopencv-dev \
		python-catkin-tools \
		python-tk \
		python3-pip \
		ros-$ROS_DISTRO-gazebo-ros-pkgs \
		ros-$ROS_DISTRO-mavlink \
		ros-$ROS_DISTRO-mavros \
		ros-$ROS_DISTRO-mavros-extras \
		ros-$ROS_DISTRO-pcl-conversions \
		ros-$ROS_DISTRO-pcl-msgs \
		ros-$ROS_DISTRO-pcl-ros \
		ros-$ROS_DISTRO-ros-base \
		ros-$ROS_DISTRO-rostest \
		ros-$ROS_DISTRO-rosunit \
		ros-$ROS_DISTRO-xacro \
		ros-$ROS_DISTRO-tf2-ros \
		ros-$ROS_DISTRO-roslint \
		ros-$ROS_DISTRO-rviz \
		xvfb \
		python-pil \
		python-yaml \
		libgeos-dev \
		python-lxml \
		libgdal-dev \
		build-essential \
		python-dev \
		libjpeg-dev \
		zlib1g-dev \
		libfreetype6-dev \
		python-virtualenv \
		python-rosdep \
	&& geographiclib-get-geoids egm96-5 \
	&& apt-get -y autoremove \
	&& apt-get clean autoclean \
	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* \
	&& pip3 install setuptools wheel \
	&& pip3 install pyulog matplotlib \
	&& pip3 install catkin_pkg px4tools pymavlink \
	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*



RUN echo "source /opt/ros/melodic/setup.bash" >> /home/arrow/.bashrc


# install MAVLink headers
RUN git clone --depth 1 https://github.com/mavlink/c_library_v2.git /usr/local/include/mavlink/v2.0 && rm -rf /usr/local/include/mavlink/v2.0/.git 

# Some QT-Apps/Gazebo don't not show controls without this
ENV QT_X11_NO_MITSHM 1

# Use UTF8 encoding in java tools (needed to compile jMAVSim)
ENV JAVA_TOOL_OPTIONS=-Dfile.encoding=UTF8

# Install MAVSDK library
RUN wget https://github.com/mavlink/MAVSDK/releases/download/v0.23.0/mavsdk_0.23.0_ubuntu18.04_amd64.deb \
    && dpkg -i mavsdk_0.23.0_ubuntu18.04_amd64.deb

RUN rosdep init && su -c "rosdep update -c /home/arrow/.ros/rosdep/sources.cache" - arrow
RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc

USER arrow
ENV ARROW_HOME /home/arrow
ENV CATKIN_WS $ARROW_HOME/catkin_ws

RUN echo "Working Folder is:$ARROW_HOME"

 RUN echo "Setting up the workspace"
 #Create & build catkin_ws
RUN mkdir -p $ARROW_HOME/catkin_ws/src \
    && echo "arrow" | sudo -S chown -R arrow:arrow $ARROW_HOME/catkin_ws \
    && cd ~/catkin_ws \
    && catkin init \
    && catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release \
    && catkin config --merge-devel \
    && catkin config --extend /opt/ros/$ROS_DISTRO \
    && catkin build \
    && cd ~/catkin_ws/src



#start of px4 setup

RUN echo "arrow" | sudo -S apt-get update && sudo apt-get -y --quiet --no-install-recommends install software-properties-common apt-utils

RUN sed -i '/source ~\/catkin_ws\/devel\/setup.bash/d' $HOME/.bashrc && \
    sed -i 's+source /opt/ros/melodic/setup.bash+source /opt/ros/melodic/setup.bash\nsource ~/catkin_ws/devel/setup.bash+g' $ARROW_HOME/.bashrc

# Install some useful ros tf packages
RUN echo "arrow" | sudo -S  apt-get install ros-melodic-tf-conversions ros-melodic-rqt-tf-tree -y
RUN if [ ! -d "$ARROW_HOME/src" ]; then \
    mkdir -p $ARROW_HOME/src; fi




RUN git clone  https://git.spirirobotics.com/scorpio1/oscillation_ctrl.git ~/catkin_ws/src/oscillation_ctrl




RUN pip3 install --user jsonschema
RUN cd $ARROW_HOME \
    && git clone https://github.com/PX4/PX4-Autopilot.git --recursive \
    && cd PX4-Autopilot \
    && echo 'argcomplete \n\ 
argparse>=1.2 \n\
cerberus \n\
coverage \n\
empy>=3.3 \n\
future \n\
jinja2>=2.8 \n\
jsonschema \n\
kconfiglib \n\
lxml \n\
matplotlib>=3.0.* \n\
numpy>=1.13 \n\
nunavut>=1.1.0 \n\
packaging \n\
pandas>=0.21 \n\
pkgconfig \n\
psutil \n\
pygments \n\
wheel>=0.31.1 \n\
pymavlink \n\
pyros-genmsg \n\
pyserial \n\
pyulog>=0.5.0 \n\
pyyaml \n\
requests \n\
setuptools>=39.2.0 \n\
six>=1.12.0 \n\
toml>=0.9' > Tools/setup/requirements.txt \
    && echo "arrow" | sudo -S bash ./Tools/setup/ubuntu.sh \
    && echo "arrow" | sudo -SH pip3 install kconfiglib \
    && DONT_RUN=1 make px4_sitl_default gazebo


RUN echo "export PATH=\$PATH:/home/arrow/.local/bin:/home/arrow/.local/bin" >> /home/arrow/.bashrc
RUN echo "export PATH=\$PATH:/usr/local/cuda-10.1/bin" >> /home/arrow/.bashrc
RUN echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:/usr/local/cuda-10.1/lib64:/usr/local/cuda-10.1/targets/x86_64-linux/lib/:/usr/local/cuda/extras/CUPTI/lib64/" >> /home/arrow/.bashrc
RUN echo "export CUDA_HOME=/usr/local/cuda" >> /home/arrow/.bashrc



RUN echo "arrow" | sudo -S apt-get update
RUN echo "arrow" | sudo -S pip install scipy
RUN echo "arrow" | sudo -S apt install ros-melodic-tf2-geometry-msgs 
RUN bash ~/catkin_ws/src/oscillation_ctrl/px4_setup/ubuntu_sim_ros_melodic.sh
RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo
#setup models for px4
RUN cp ~/catkin_ws/src/oscillation_ctrl/px4_setup/airframe_changes ~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake
RUN mkdir -p ~/PX4-Autopilot/Tools/sitl_gazebo/models
RUN mkdir -p ~/PX4-Autopilot/Tools/sitl_gazebo/worlds
RUN cp -R ~/catkin_ws/src/oscillation_ctrl/models/* ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models
RUN cp -R ~/catkin_ws/src/oscillation_ctrl/worlds/* ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds
RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo
RUN cp ~/catkin_ws/src/oscillation_ctrl/px4_setup/CMakeLists.txt ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/CMakeLists.txt
RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo
RUN mkdir -p /home/arrow/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes
RUN cp -R ~/catkin_ws/src/oscillation_ctrl/airframes/18.04/* ~/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix
RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo
RUN bash ~/catkin_ws/src/oscillation_ctrl/px4_setup/px4setup.sh

#install QGroundControl
RUN echo "arrow" | sudo -S apt-get remove modemmanager -y
RUN echo "arrow" | sudo -S apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl libqt5gui5 libfuse2 libpulse-dev fuse xmlstarlet -y
RUN cd ~ && wget https://github.com/mavlink/qgroundcontrol/releases/download/v4.2.6/QGroundControl.AppImage
#final setup
SHELL ["/bin/bash", "-c"]
RUN cd ~/PX4-Autopilot\
    && source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default \
    && export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd) \
    && export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/simulation/gazebo-classic/sitl_gazebo-classic