ARG CC_PLATFORM_IMAGE

FROM ${CC_PLATFORM_IMAGE} AS system_packages

COPY vendor/packages workspace/src/

RUN cd workspace \
    && colcon build \
    --install-base ${TARGET_SYSROOT} \
    --merge-install \
    --packages-up-to system_vendor_packages \
    --cmake-force-configure \
    --cmake-args \
    --no-warn-unused-cli \
    -DCMAKE_BUILD_TYPE=Release \
    -DBUILD_TESTING=OFF \
    -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE}

FROM ${CC_PLATFORM_IMAGE} AS ceres_vendor

COPY vendor/packages/eigen3_vendor      workspace/src/eigen3_vendor
# COPY vendor_packages/gflags_vendor      workspace/src/gflags_vendor
# COPY vendor_packages/glog_vendor        workspace/src/glog_vendor
# COPY vendor_packages/openblas_vendor    workspace/src/openblas_vendor
# COPY vendor_packages/suitesparse_vendor workspace/src/suitesparse_vendor
COPY vendor/packages/ceres_vendor       workspace/src/ceres_vendor

RUN cd workspace \
    && colcon build \
    --install-base ${TARGET_SYSROOT} \
    --merge-install \
    --packages-up-to ceres_vendor \
    --cmake-force-configure \
    --cmake-args \
    --no-warn-unused-cli \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE}


FROM ${CC_PLATFORM_IMAGE} AS opencv_vendor

COPY vendor/packages/opencv_vendor workspace/src/opencv_vendor

RUN cd workspace \
    && colcon build \
    --install-base ${TARGET_SYSROOT} \
    --merge-install \
    --packages-up-to opencv_vendor \
    --cmake-force-configure \
    --cmake-args \
    --no-warn-unused-cli \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE}

FROM ${CC_PLATFORM_IMAGE} AS boost

WORKDIR /tmp

RUN wget https://archives.boost.io/release/1.83.0/source/boost_1_83_0.tar.gz

RUN tar -zxf boost_1_83_0.tar.gz \
    && cd boost_1_83_0 \
    && ./bootstrap.sh --prefix=${TARGET_SYSROOT} --without-libraries=python \
    && sed -i "/using gcc/c using gcc : arm64 : aarch64-none-linux-gnu-gcc ;" project-config.jam \
    && ./b2 cxxflags="-fPIC" cflags="-fPIC" link=static install

FROM ${CC_PLATFORM_IMAGE} AS pcl_vendor

COPY vendor/packages/eigen3_vendor workspace/src/eigen3_vendor
COPY vendor/packages/liblz4_vendor workspace/src/liblz4_vendor
COPY vendor/packages/flann_vendor workspace/src/flann_vendor
COPY vendor/packages/pcl_vendor workspace/src/pcl_vendor

COPY --from=boost ${TARGET_SYSROOT} ${TARGET_SYSROOT}

RUN cd workspace \
    && colcon build \
    --install-base ${TARGET_SYSROOT} \
    --merge-install \
    --packages-up-to pcl_vendor \
    --cmake-force-configure \
    --cmake-args \
    --no-warn-unused-cli \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE}


# OpenSSL
FROM ${CC_PLATFORM_IMAGE} AS ssl_builder
WORKDIR /tmp
RUN git clone --depth=1 https://github.com/janbar/openssl-cmake.git \
    && cd openssl-cmake \
    && mkdir build \
    && cd build \
    && cmake .. \
        -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE} \
        -DCMAKE_INSTALL_PREFIX=${TARGET_SYSROOT} \
        -DCMAKE_BUILD_TYPE=Release \
        -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
    && make -j$(($(nproc) / 2)) && make install \
    && rm -rf /tmp

# ffi
FROM ${CC_PLATFORM_IMAGE} AS ffi_builder
RUN git clone --depth=1 https://github.com/libffi/libffi.git \
    && cd libffi \
    && ./autogen.sh \
    && ./configure --host=aarch64-none-linux-gnu --build=x86_64-linux-gnu --disable-docs --prefix=${TARGET_SYSROOT} \
    && make -j$(nproc) && make install

# Python 3.12
FROM ${CC_PLATFORM_IMAGE} AS python_builder

WORKDIR /tmp

COPY --from=ssl_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}
COPY --from=system_packages ${TARGET_SYSROOT} ${TARGET_SYSROOT}
COPY --from=ffi_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}

# COPY vendor_packages/Python-3.10.12.tar.xz .
RUN wget https://www.python.org/ftp/python/3.10.12/Python-3.10.12.tar.xz \
    && tar -xf Python-3.10.12.tar.xz \
    && rm Python-3.10.12.tar.xz

# 配置和编译 Python
WORKDIR /tmp/Python-3.10.12
ENV CC=aarch64-none-linux-gnu-gcc \
    CXX=aarch64-none-linux-gnu-g++ \
    AR=aarch64-none-linux-gnu-ar \
    RANLIB=aarch64-none-linux-gnu-ranlib \
    HOSTARCH=aarch64-none-linux-gnu \
    BUILDARCH=x86_64-linux-gnu

ENV CPPFLAGS="-I${TARGET_SYSROOT}/include" \
    LDFLAGS="-L${TARGET_SYSROOT}/lib -Wl,-rpath-link=${TARGET_SYSROOT}/lib" \
    CFLAGS="-fPIC" \
    PKG_CONFIG_PATH="" \
    PKG_CONFIG_LIBDIR="${TARGET_SYSROOT}/lib/pkgconfig" \
    PKG_CONFIG_SYSROOT_DIR="${TARGET_SYSROOT}"

RUN ./configure \
    --host=aarch64-none-linux-gnu \
    --build=x86_64-linux-gnu \
    --prefix=${TARGET_SYSROOT} \
    --disable-ipv6 \
    --enable-optimizations \
    --with-openssl=${TARGET_SYSROOT} \
    ac_cv_file__dev_ptmx=yes \
    ac_cv_file__dev_ptc=yes \
    && make -j$(($(nproc) / 2)) \
    && make install

# https://github.com/benfogle/crossenv
# cross compile python packages 
WORKDIR /tmp

COPY vendor/extract_wheels.sh /tmp/extract_wheels.sh

# python packages
RUN pip download --no-deps -d /wheels \
    empy==3.3.4 \
    lark \
    pyyaml \
    catkin_pkg \
    setuptools \
    packaging \
    pyparsing \
    argcomplete \
    osrf-pycommon \
    typing-extensions \
    rosdistro 

# python packages with c extension
RUN pip download \
    --no-deps \
    --only-binary=:all: \
    --python-version 310 \
    --implementation cp \
    --abi cp310 \
    --platform manylinux2014_aarch64 \
    -d /wheels \
    psutil numpy==1.21.5

RUN chmod +x /tmp/extract_wheels.sh && \
    /tmp/extract_wheels.sh "${TARGET_SYSROOT}/lib/python3.10/site-packages" /wheels

FROM ${CC_PLATFORM_IMAGE} AS final

COPY --from=system_packages ${TARGET_SYSROOT} ${TARGET_SYSROOT}
COPY --from=ceres_vendor ${TARGET_SYSROOT} ${TARGET_SYSROOT}
COPY --from=opencv_vendor ${TARGET_SYSROOT} ${TARGET_SYSROOT}
COPY --from=pcl_vendor ${TARGET_SYSROOT} ${TARGET_SYSROOT}
COPY --from=python_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}