From 82ad562be80ce5b12f1acd76feb135a62ab856c8 Mon Sep 17 00:00:00 2001
From: Ramon Roche <mrpollo@gmail.com>
Date: Fri, 15 Nov 2024 11:36:03 -0800
Subject: [PATCH] Tools: build px4-dev container in CI with ubuntu 24.04

---
 .github/workflows/dev_container.yml | 45 +++++++++++++++++++++++++++++
 Tools/setup/Dockerfile              | 31 ++++++++++++++++++++
 Tools/setup/docker-entrypoint.sh    | 33 +++++++++++++++++++++
 Tools/setup/ubuntu.sh               |  5 ----
 4 files changed, 109 insertions(+), 5 deletions(-)
 create mode 100644 .github/workflows/dev_container.yml
 create mode 100644 Tools/setup/Dockerfile
 create mode 100755 Tools/setup/docker-entrypoint.sh

diff --git a/.github/workflows/dev_container.yml b/.github/workflows/dev_container.yml
new file mode 100644
index 0000000000..f4ac404761
--- /dev/null
+++ b/.github/workflows/dev_container.yml
@@ -0,0 +1,45 @@
+
+name: Container build
+
+on:
+  push:
+    branches:
+      - 'main'
+      - 'stable'
+      - 'beta'
+      - 'release/**'
+  pull_request:
+    branches:
+      - '*'
+
+jobs:
+  build:
+    name: Build Container
+    runs-on: [runs-on,runner=8cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}"]
+    steps:
+
+      - uses: actions/checkout@v4
+        with:
+          fetch-tags: true
+          submodules: false
+
+      - name: Build and load container image
+        uses: docker/build-push-action@v6
+        with:
+          context: Tools/setup
+          tags: px4-dev:latest
+          platforms: |
+            linux/amd64
+          load: true
+          push: false
+
+      - name: make quick_check
+        uses: addnab/docker-run-action@v3
+        with:
+          image: px4-dev:latest
+          options: -v ${{ github.workspace }}:/workspace
+          run: |
+            cd /workspace
+            git config --global --add safe.directory /workspace
+            make px4_sitl_default
+            make px4_fmu-v6x_default
diff --git a/Tools/setup/Dockerfile b/Tools/setup/Dockerfile
new file mode 100644
index 0000000000..ce4b827ed1
--- /dev/null
+++ b/Tools/setup/Dockerfile
@@ -0,0 +1,31 @@
+# PX4 base development environment
+FROM ubuntu:24.04
+LABEL maintainer="Daniel Agar <daniel@agar.ca>, Ramon Roche <mrpollo@gmail.com>"
+
+ENV DEBIAN_FRONTEND=noninteractive
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
+ENV DISPLAY=:99
+ENV TERM=xterm
+ENV TZ=UTC
+
+# SITL UDP PORTS
+EXPOSE 14556/udp
+EXPOSE 14557/udp
+
+COPY docker-entrypoint.sh /usr/local/bin/docker-entrypoint.sh
+
+# Install PX4 Requirements
+COPY requirements.txt /tmp/requirements.txt
+COPY ubuntu.sh /tmp/ubuntu.sh
+RUN touch /.dockerenv
+RUN bash /tmp/ubuntu.sh
+
+RUN git config --global --add safe.directory '*'
+
+# create user with id 1001 (jenkins docker workflow default)
+RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
+
+ENTRYPOINT ["/usr/local/bin/docker-entrypoint.sh"]
+
+CMD ["/bin/bash"]
diff --git a/Tools/setup/docker-entrypoint.sh b/Tools/setup/docker-entrypoint.sh
new file mode 100755
index 0000000000..1094587c1c
--- /dev/null
+++ b/Tools/setup/docker-entrypoint.sh
@@ -0,0 +1,33 @@
+#!/bin/bash
+
+echo "[docker-entrypoint.sh] Starting entrypoint"
+# Start virtual X server in the background
+# - DISPLAY default is :99, set in dockerfile
+# - Users can override with `-e DISPLAY=` in `docker run` command to avoid
+#   running Xvfb and attach their screen
+if [[ -x "$(command -v Xvfb)" && "$DISPLAY" == ":99" ]]; then
+	echo "[docker-entrypoint.sh] Starting Xvfb"
+	Xvfb :99 -screen 0 1600x1200x24+32 &
+fi
+
+# Check if the ROS_DISTRO is passed and use it
+# to source the ROS environment
+if [ -n "${ROS_DISTRO}" ]; then
+	echo "[docker-entrypoint.sh] ROS: ${ROS_DISTRO}"
+	source "/opt/ros/$ROS_DISTRO/setup.bash"
+fi
+
+echo "[docker-entrypoint.sh] Working Directory: ${pwd}"
+
+# Use the LOCAL_USER_ID if passed in at runtime
+if [ -n "${LOCAL_USER_ID}" ]; then
+	echo "[docker-entrypoint.sh] Starting with: $LOCAL_USER_ID:user"
+	# modify existing user's id
+	usermod -u $LOCAL_USER_ID user
+
+	# run as user
+	# exec gosu user "$@"
+	exec "$@"
+else
+	exec "$@"
+fi
diff --git a/Tools/setup/ubuntu.sh b/Tools/setup/ubuntu.sh
index 2beaddb297..2d2fa00c1e 100755
--- a/Tools/setup/ubuntu.sh
+++ b/Tools/setup/ubuntu.sh
@@ -229,8 +229,3 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	fi
 
 fi
-
-if [[ $INSTALL_NUTTX == "true" ]]; then
-	echo
-	echo "Relogin or reboot computer before attempting to build NuttX targets"
-fi