ARG CC_PLATFORM_IMAGE
ARG VENDOR_PACKAGES_IMAGE

FROM ${CC_PLATFORM_IMAGE} AS ros_src

ARG ROS_DISTRO
WORKDIR /workspace
RUN mkdir -p /workspace/src
COPY ros2/${ROS_DISTRO}/ros_${ROS_DISTRO}.repos .
RUN vcs import --shallow --workers 4 --input ros_${ROS_DISTRO}.repos src
RUN echo "Build ros ${ROS_DISTRO}"

FROM ${VENDOR_PACKAGES_IMAGE} AS vendor_images

FROM ${CC_PLATFORM_IMAGE} AS ros_builder
ARG ROS_DISTRO
ARG ROS_ROOT
ENV ROS_ROOT=${ROS_ROOT}

WORKDIR /workspace
COPY --from=ros_src /workspace /workspace
COPY --from=vendor_images ${TARGET_SYSROOT} ${TARGET_SYSROOT}
COPY ros2/${ROS_DISTRO}/patch /workspace/patch
COPY ros2/ros_cpp /workspace/src/ros_cpp

COPY rk3576/rk3576.toolchain.cmake /opt/cmake/

# apply patch
RUN patch -p1 -d /workspace/src/ros2/rclcpp < /workspace/patch/memory_strategy.patch

RUN touch src/ros2/geometry2/tf2_bullet/COLCON_IGNORE \
    && touch src/ros2/rosbag2/rosbag2_storage_sqlite3/COLCON_IGNORE \
    && touch src/ros-perception/image_transport_plugins/theora_image_transport/COLCON_IGNORE \
    && touch src/diagnostics/diagnostic_remote_logging/COLCON_IGNORE

# -DPYTHON_SOABI=cpython-310-aarch64-linux-gnu
RUN MAKEFLAGS="-j6" colcon build \
    --executor parallel \
    --parallel-workers 6 \
    --install-base ${TARGET_SYSROOT} \
    --merge-install \
    --packages-up-to ros_cpp \
    --cmake-force-configure \
    --cmake-args \
    --no-warn-unused-cli \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE} \
    -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
    -DBUILD_TESTING=OFF \
    -DTRACETOOLS_DISABLED=ON \
    -DCV_BRIDGE_DISABLE_PYTHON=ON

FROM ${CC_PLATFORM_IMAGE} AS rmw_zenoh_builder
ARG ROS_ROOT
ENV ROS_ROOT=${ROS_ROOT}
COPY --from=ros_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}

RUN python3.10 -m pip install numpy==1.21.5

# rust install 
RUN curl https://sh.rustup.rs -sSf | sh -s -- -y
RUN . "$HOME/.cargo/env"  \
    && rustup install 1.75.0 \
    && rustup default 1.75.0 \
    && rustup target add aarch64-unknown-linux-gnu

RUN mkdir rmw_zenoh_ws/src -p  \
    && cd rmw_zenoh_ws/src \
    && git clone --depth=1 -b lyrical https://github.com/ros2/rmw_zenoh.git

# --- 给 cargo/cc-rs 补上明确的区分 ---
ENV CARGO_TARGET_AARCH64_UNKNOWN_LINUX_GNU_LINKER=aarch64-buildroot-linux-gnu-gcc \
    CC_aarch64_unknown_linux_gnu=aarch64-buildroot-linux-gnu-gcc \
    CXX_aarch64_unknown_linux_gnu=aarch64-buildroot-linux-gnu-g++ \
    AR_aarch64_unknown_linux_gnu=aarch64-buildroot-linux-gnu-ar \
    HOST_CC=gcc \
    HOST_CXX=g++ \
    HOST_AR=ar

RUN . "$HOME/.cargo/env" \
    && . ${TARGET_SYSROOT}/local_setup.sh \
    && colcon build \
        --install-base ${TARGET_SYSROOT} \
        --merge-install \
        --packages-up-to rmw_zenoh_cpp \
        --cmake-force-configure \
        --cmake-args \
        --no-warn-unused-cli \
        -DCMAKE_BUILD_TYPE=Release \
        -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE} \
        -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
        -DBUILD_TESTING=OFF \
        -DZENOHC_CUSTOM_TARGET=aarch64-unknown-linux-gnu

RUN cp -rf ${TARGET_SYSROOT}/opt/zenoh_cpp_vendor/include ${TARGET_SYSROOT} 
RUN cp -rf ${TARGET_SYSROOT}/opt/zenoh_cpp_vendor/lib ${TARGET_SYSROOT} 
RUN rm -rf ${TARGET_SYSROOT}/opt

FROM ${CC_PLATFORM_IMAGE} AS final

ARG ROS_ROOT
ENV ROS_ROOT=${ROS_ROOT}
COPY --from=rmw_zenoh_builder ${TARGET_SYSROOT} ${ROS_ROOT}
ENV TARGET_SYSROOT=${ROS_ROOT}

# pybind11 python soabi issue
RUN cd ${ROS_ROOT}/lib/python3.10/site-packages/rclpy \
    && mv _rclpy_pybind11.cpython-310-x86_64-linux-gnu.so _rclpy_pybind11.cpython-310-aarch64-linux-gnu.so
RUN cd ${ROS_ROOT}/lib/python3.10/site-packages/rosbag2_py \
    && mv _transport.cpython-310-x86_64-linux-gnu.so _transport.cpython-310-aarch64-linux-gnu.so \
    && mv _info.cpython-310-x86_64-linux-gnu.so _info.cpython-310-aarch64-linux-gnu.so \
    && mv _compression_options.cpython-310-x86_64-linux-gnu.so _compression_options.cpython-310-aarch64-linux-gnu.so \
    && mv _storage.cpython-310-x86_64-linux-gnu.so _storage.cpython-310-aarch64-linux-gnu.so \
    && mv _reindexer.cpython-310-x86_64-linux-gnu.so _reindexer.cpython-310-aarch64-linux-gnu.so \
    && mv _writer.cpython-310-x86_64-linux-gnu.so _writer.cpython-310-aarch64-linux-gnu.so \
    && mv _message_definitions.cpython-310-x86_64-linux-gnu.so _message_definitions.cpython-310-aarch64-linux-gnu.so \
    && mv _reader.cpython-310-x86_64-linux-gnu.so _reader.cpython-310-aarch64-linux-gnu.so
RUN cd ${ROS_ROOT}/lib/python3.10/site-packages/rosidl_buffer \
    && mv _rosidl_buffer_py.cpython-310-x86_64-linux-gnu.so _rosidl_buffer_py.cpython-310-aarch64-linux-gnu.so 

WORKDIR /workspace