# syntax=docker/dockerfile:1
# PX4 SITL Gazebo Harmonic runtime image
# Runs PX4 SITL with Gazebo Harmonic. Supports X11 forwarding for GUI.
#
# Build:
#   make px4_sitl_default && cd build/px4_sitl_default && cpack -G DEB && cd ../..
#   docker build -f Tools/packaging/Dockerfile.gazebo -t px4io/px4-sitl-gazebo:v1.17.0 build/px4_sitl_default/
#
# Run (headless):
#   docker run --rm -it --network host px4io/px4-sitl-gazebo:v1.17.0
#
# Run (X11 GUI):
#   xhost +local:docker
#   docker run --rm -it --network host \
#     -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix \
#     --gpus all px4io/px4-sitl-gazebo:v1.17.0

FROM ubuntu:24.04 AS extract
COPY px4-gazebo_*.deb /tmp/
RUN apt-get update && apt-get install -y --no-install-recommends binutils \
    && dpkg -x /tmp/px4-gazebo_*.deb /staging \
    && strip /staging/opt/px4-gazebo/bin/px4 \
    && rm -rf /var/lib/apt/lists/*

FROM ubuntu:24.04
LABEL maintainer="PX4 Development Team"
LABEL description="PX4 SITL with Gazebo Harmonic simulation"

ENV DEBIAN_FRONTEND=noninteractive
ENV RUNS_IN_DOCKER=true

# Install Gazebo Harmonic with buildkit cache mounts for apt
# The --mount=type=cache persists /var/cache/apt and /var/lib/apt across builds
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
    --mount=type=cache,target=/var/lib/apt,sharing=locked \
    apt-get update \
    && apt-get install -y --no-install-recommends \
        bc \
        ca-certificates \
        gnupg \
        lsb-release \
        wget \
    && wget -q https://packages.osrfoundation.org/gazebo.gpg \
        -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" \
        > /etc/apt/sources.list.d/gazebo-stable.list \
    && apt-get update \
    && apt-get install -y --no-install-recommends \
        gz-harmonic

# Install PX4 files from .deb
COPY --from=extract /staging/opt/px4-gazebo /opt/px4-gazebo
RUN ln -sf /opt/px4-gazebo/bin/px4-gazebo /usr/bin/px4-gazebo

# Create the DART physics engine symlink (avoids needing the -dev package)
RUN GZ_PHYSICS_DIR=$(find /usr/lib -maxdepth 3 -type d -name "engine-plugins" -path "*/gz-physics-7/*" 2>/dev/null | head -1) \
    && if [ -n "$GZ_PHYSICS_DIR" ] && [ -d "$GZ_PHYSICS_DIR" ]; then \
        VERSIONED=$(ls "$GZ_PHYSICS_DIR"/libgz-physics*-dartsim-plugin.so.* 2>/dev/null | head -1) \
        && [ -n "$VERSIONED" ] \
        && ln -sf "$(basename "$VERSIONED")" "$GZ_PHYSICS_DIR/libgz-physics-dartsim-plugin.so"; \
    fi

# Gazebo resource paths
ENV GZ_SIM_RESOURCE_PATH=/opt/px4-gazebo/share/gz/models:/opt/px4-gazebo/share/gz/worlds
ENV GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/px4-gazebo/lib/gz/plugins
ENV GZ_SIM_SERVER_CONFIG_PATH=/opt/px4-gazebo/share/gz/server.config
ENV PX4_GZ_MODELS=/opt/px4-gazebo/share/gz/models
ENV PX4_GZ_WORLDS=/opt/px4-gazebo/share/gz/worlds

ENV PX4_SIM_MODEL=gz_x500
ENV HOME=/root

# MAVLink, MAVSDK, DDS
EXPOSE 14550/udp 14540/udp 8888/udp

# Platform-adaptive entrypoint: detects Docker Desktop (macOS/Windows) via
# host.docker.internal and configures MAVLink + DDS to target the host.
COPY px4-entrypoint.sh /opt/px4-gazebo/bin/px4-entrypoint.sh
RUN chmod +x /opt/px4-gazebo/bin/px4-entrypoint.sh

WORKDIR /root

ENTRYPOINT ["/opt/px4-gazebo/bin/px4-entrypoint.sh"]
CMD []