# A Dockerfile for the gym-gazebo environment
FROM ubuntu:16.04

#--------------------
# General setup
#--------------------

# Get the dependencies
RUN apt-get update \
    && apt-get install -y xorg-dev \
    libgl1-mesa-dev \
    xvfb \
    libxinerama1 \
    libxcursor1 \
    unzip \
    libglu1-mesa \
    libav-tools \
    python3 \
    python3-pip \
    # python3-numpy \
    # python3-scipy \
    # python3-pyglet \
    python3-setuptools \
    libpq-dev \
    libjpeg-dev \
    wget \
    curl \
    cmake \
    git \
 && apt-get clean \
 && rm -rf /var/lib/apt/lists/*

WORKDIR /usr/local/gym

#--------------------
# Install gym
#--------------------

# # Clone the official gym
# RUN git clone https://github.com/openai/gym
#
# # Install the gym's requirements
# RUN pip install -r gym/requirements.txt
#
# # Install the gym
# RUN ls -l
# RUN pip install -e gym/

# Install from pip
RUN pip3 install gym

# Checks
#RUN python --version
#RUN python -c "import gym"

# Debug
#RUN ls -l /usr/local/gym
#RUN ls -l /usr/local/gym/gym-gazebo
#RUN ls -l /usr/local/gym/gym

# #--------------------
# # Install Gazebo
# #--------------------
RUN sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable xenial main" > /etc/apt/sources.list.d/gazebo-stable.list'

RUN wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -

RUN apt-get update
RUN apt-get install gazebo8 -y
# RUN apt-get install -y libglib2.0-dev libgts-dev libgts-dev
RUN apt-get install -y libgazebo8-dev

# setup environment
EXPOSE 11345

#--------------------
# Install ROS
#--------------------

# RUN apt-get install -y locales-all
# # setup environment
# RUN locale-gen en_US.UTF-8
# ENV LANG en_US.UTF-8

# setup environment
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8

# setup keys
RUN apt-key adv --keyserver ha.pool.sks-keyservers.net --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116

# setup sources.list
RUN echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list
# RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
#
# # install ros packages
ENV ROS_DISTRO kinetic
RUN apt-get install cmake gcc g++

# # Install from repositories (for Python 2.7)
#----------------------------
# install bootstrap tools
# RUN apt-get update && apt-get install --no-install-recommends -y \
#     python-rosdep \
#     python-rosinstall \
#     python-vcstools \
#     && rm -rf /var/lib/apt/lists/*
# RUN apt-get update && apt-get install -y \
#       ros-kinetic-ros-base && rm -rf /var/lib/apt/lists/*
#
# RUN apt-get install ros-kinetic-*
# # Install additional dependencies
# RUN apt-get install -y ros-kinetic-cv-bridge
# RUN apt-get install -y ros-kinetic-robot-state-publisher ros-kinetic-control-msgs

# Install from sources
#----------------------------
# RUN apt-get install python3-rosdep python3-rosinstall-generator python3-wstool \
#           python3-rosinstall build-essential
# or alternatively,
RUN apt-get update && apt-get install libboost-all-dev -y

RUN pip3 install --upgrade pip
RUN pip3 install -U rosdep rosinstall_generator wstool rosinstall
RUN pip3 install rospkg catkin_pkg empy

# bootstrap rosdep
RUN rosdep init \
    && rosdep update

RUN mkdir ~/ros_catkin_ws
# Create package set
RUN cd ~/ros_catkin_ws && rosinstall_generator ros_comm --rosdistro kinetic \
            --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall
# Fetch packages
RUN cd ~/ros_catkin_ws && wstool init -j1 src kinetic-ros_comm-wet.rosinstall
# # Solve dependencies
# RUN cd ~/ros_catkin_ws && rosdep install --from-paths src --ignore-src --rosdistro kinetic -y

# Create symbolic link for the compilation
RUN cd /usr/bin && ln -sf python3 python


# Install console_bridge from packages
RUN apt-get install libconsole-bridge-dev -y
# # Compile/install console_bridge as a library
# RUN git clone git://github.com/ros/console_bridge.git
# RUN cd console_bridge && cmake . && make
# RUN cd console_bridge && make install

RUN apt-get install -y libtinyxml-dev liblz4-dev libbz2-dev liburdfdom-dev libpoco-dev \
              libtinyxml2-dev

# # Compile the basic ROS packages, optimize docker production
# RUN cd ~/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated -DPYTHON_VERSION=3.5 --install -DCMAKE_BUILD_TYPE=Release

# Add a few packages and dependencies by hand
# RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/console_bridge
RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros-controls/control_toolbox
RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros-controls/realtime_tools
RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/actionlib
RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/pluginlib
RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/class_loader
RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/urdf
RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros-simulation/gazebo_ros_pkgs
RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/common_msgs
RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros-controls/control_msgs
RUN cd ~/ros_catkin_ws/src && git clone https://github.com/vmayoral/dynamic_reconfigure
RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/geometry
RUN cd ~/ros_catkin_ws/src && git clone https://github.com/erlerobot/orocos_kinematics_dynamics
RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/angles
RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/geometry2
RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/rosconsole_bridge
RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/nodelet_core
RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/bond_core
RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros-perception/image_common
RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros-perception/vision_opencv

# #--------------------
# # Follow up with the ROS intallation, splited in this funny way to optimize docker's performance
# #--------------------
RUN apt-get install -y libeigen3-dev python3-sip python3-sip-dev libyaml-cpp-dev \
                        libboost-python-dev unzip
# this installs an old version, not valid: libopencv-dev

# # Ignore some repositories due to some issues with libboost_python3
# #       https://github.com/ros/ros-overlay/issues/93
# RUN touch /root/ros_catkin_ws/src/image_common/camera_calibration_parsers/CATKIN_IGNORE
# RUN touch /root/ros_catkin_ws/src/image_common/camera_info_manager/CATKIN_IGNORE
RUN cd /usr/lib/x86_64-linux-gnu/ && ln -s libboost_python-py35.so libboost_python3.so

# #--------------------
# # Install OpenCV
# #--------------------
# # From sources
# RUN git clone https://github.com/opencv/opencv
# RUN cd opencv && mkdir build && cd build && cmake .. && make
# RUN cd opencv/build && make install

# Compile OpenCV from sources
WORKDIR /root
RUN wget https://github.com/opencv/opencv/archive/3.2.0.zip
RUN ls /root
RUN unzip 3.2.0.zip
RUN mv opencv-3.2.0 OpenCV
RUN cd OpenCV && mkdir build && cd build && cmake -DWITH_QT=ON -DWITH_OPENGL=ON -DFORCE_VTK=ON -DWITH_TBB=ON -DWITH_GDAL=ON -DWITH_XINE=ON -DBUILD_EXAMPLES=ON -DENABLE_PRECOMPILED_HEADERS=OFF ..
RUN cd OpenCV/build && make -j4
RUN cd OpenCV/build && make install
RUN cd OpenCV/build && ldconfig

RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/diagnostics
RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros-controls/ros_control

# Compile the again the workspace
RUN cd ~/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated -DPYTHON_VERSION=3.5 \
        --install -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=OFF


# Debug
# RUN ls -l /opt/ros

# upgrade pip
#RUN apt-get install python3-pyqt4

# #--------------------
# # Install ROS 2
# #--------------------
# Inspired on https://github.com/osrf/docker_images/blob/master/ros2/source/source/Dockerfile
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list'
RUN apt-key adv --keyserver ha.pool.sks-keyservers.net --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116

# setup environment
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8

RUN pip3 install configparser
# RUN apt-get install python-pkg-resources

# install packages
RUN apt-get update && apt-get install -q -y \
    # bash-completion \
    # build-essential \
    clang-format \
    # # cmake \
    # cppcheck \
    # git \
    libasio-dev \
    # libeigen3-dev \
    # libopencv-dev \
    # libpoco-dev \
    libpocofoundation9v5 \
    libpocofoundation9v5-dbg \
    libssl-dev \
    # libtinyxml-dev \
    # libtinyxml2-dev \
    openssl \
    # pydocstyle \
    # pyflakes \
    # python-empy \
    python3-coverage \
    python3-dev \
    python3-empy \
    python3-mock \
    python3-nose \
    python3-pep8 \
    python3-pip \
    python3-setuptools \
    python3-vcstool \
    python3-yaml \
    uncrustify \
    wget \
    && rm -rf /var/lib/apt/lists/*

# install python packages
RUN pip3 install -U \
    argcomplete \
    flake8 \
    flake8-import-order

# clone source
ENV ROS2_WS /root/ros2_ws
RUN mkdir -p $ROS2_WS/src
WORKDIR $ROS2_WS
RUN wget https://raw.githubusercontent.com/ros2/ros2/release-latest/ros2.repos \
&& vcs import src < ros2.repos

RUN pip3 install pyparsing pytest

# build source
WORKDIR $ROS2_WS
RUN src/ament/ament_tools/scripts/ament.py \
    build \
    --build-tests \
    --cmake-args -DSECURITY=OFF -- \
    --isolated \
    --parallel \
    --symlink-install


WORKDIR /root
#--------------------
# Install Sophus
#--------------------
# RUN git clone https://github.com/stonier/sophus -b indigo && \
#    cd sophus && mkdir build && cd build && cmake .. && make
# RUN ls -l
# RUN cd sophus/build && make install
# RUN echo "## Sophus installed ##\n"

# # FROM pip
# RUN pip3 install opencv-python
#RUN cd /usr/local/gym

# More dependencies
RUN pip3 install h5py
RUN apt-get update && apt-get install -y bash-completion \
        python3-defusedxml python3-skimage

#--------------------
# Install baselines
#--------------------
RUN pip3 install baselines

RUN pip3 install netifaces


#--------------------
# Install individual environments
#--------------------
WORKDIR /root

# Turtlebot
RUN cd ros_catkin_ws/src && git clone https://github.com/turtlebot/turtlebot
RUN cd ros_catkin_ws/src && git clone https://github.com/turtlebot/turtlebot_create
RUN cd ros_catkin_ws/src && git clone https://github.com/turtlebot/turtlebot_simulator
RUN cd ros_catkin_ws/src && git clone https://github.com/ros-drivers/joystick_drivers.git
RUN cd ros_catkin_ws/src && git clone https://github.com/yujinrobot/kobuki
RUN cd ros_catkin_ws/src && git clone https://github.com/yujinrobot/kobuki_core
# RUN cd ros_catkin_ws/src && git clone https://github.com/erlerobot/kobuki_desktop
RUN cd ros_catkin_ws/src && git clone https://github.com/yujinrobot/kobuki_msgs
RUN cd ros_catkin_ws/src && git clone https://github.com/ros-planning/navigation
RUN cd ros_catkin_ws/src && git clone https://github.com/ros-perception/perception_pcl.git
RUN cd ros_catkin_ws/src && git clone https://github.com/ros/xacro
RUN cd ros_catkin_ws/src && git clone https://github.com/yujinrobot/yocs_msgs
RUN cd ros_catkin_ws/src && git clone https://github.com/yujinrobot/yujin_ocs
RUN cd ros_catkin_ws/src && git clone https://github.com/stonier/ecl_core
RUN cd ros_catkin_ws/src && git clone https://github.com/stonier/ecl_lite
RUN cd ros_catkin_ws/src && git clone https://github.com/stonier/ecl_navigation
RUN cd ros_catkin_ws/src && git clone https://github.com/stonier/ecl_tools
RUN cd ros_catkin_ws/src && git clone https://github.com/ros-drivers/driver_common.git
RUN apt-get install -y libftdi-dev
RUN cd ros_catkin_ws/src && git clone https://github.com/ros-visualization/rqt_robot_dashboard
RUN apt-get install -y libsdl-dev libsdl-image1.2-dev libspnav-dev
# installing pcl-dev causes some conflicts
RUN apt-get install -y libpcl-dev; exit 0
RUN cd ros_catkin_ws/src && git clone https://github.com/ros-perception/pcl_msgs
RUN cd ros_catkin_ws/src && git clone https://github.com/ros-perception/pcl_conversions
RUN cd ros_catkin_ws/src && git clone https://github.com/ros-gbp/bfl-release -b release/kinetic/bfl
# # CATKIN_IGNORE kobuki_gazebo_plugins
# RUN cd ros_catkin_ws/src/kobuki_desktop/kobuki_gazebo_plugins && touch CATKIN_IGNORE
RUN cd ros_catkin_ws/src && git clone https://github.com/yujinrobot/kobuki_desktop -b devel
# Fix obtained from https://aur.archlinux.org/packages/ros-indigo-kobuki-gazebo-plugins/
# checkout version 0.5.1, which compiles
RUN cd ros_catkin_ws/src/kobuki_desktop && git checkout 3d837662928748cf1e229d2e0b0d98f1031ed4a4
RUN cd ros_catkin_ws/src && git clone https://github.com/ros-perception/laser_geometry
RUN cd ros_catkin_ws/src && git clone https://github.com/ros-planning/navigation_msgs
RUN cd ros_catkin_ws/src && git clone https://github.com/ros/roslint
# CATKIN_IGNORE wiimote
RUN cd ros_catkin_ws/src/joystick_drivers/wiimote && touch CATKIN_IGNORE
# # CATKIN_IGNORE yocs_ar_marker_tracking
# RUN cd ros_catkin_ws/src/yujin_ocs/yocs_ar_marker_tracking && touch CATKIN_IGNORE
RUN cd ros_catkin_ws/src && git clone https://github.com/ros-perception/ar_track_alvar
RUN cd ros_catkin_ws/src && git clone https://github.com/ros/resource_retriever
# CATKIN_IGNORE kobuki test suites
RUN cd ros_catkin_ws/src/kobuki/kobuki_testsuite && touch CATKIN_IGNORE
RUN cd ros_catkin_ws/src/kobuki_desktop/kobuki_qtestsuite && touch CATKIN_IGNORE
RUN cd ros_catkin_ws/src && git clone https://github.com/ros/robot_state_publisher
RUN cd ros_catkin_ws/src && git clone https://github.com/ros/kdl_parser

# Compile the again the workspace
RUN cd ~/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated -DPYTHON_VERSION=3.5 \
        --install -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=OFF


#--------------------
# Copy the code
#--------------------
# this invalidates the cache
RUN mkdir gym-gazebo
# COPY . /usr/local/gym/gym-gazebo
COPY . /root/gym-gazebo

# # #--------------------
# # # Install deep learning toolkits
# # #--------------------
# # # install dependencies
# # RUN pip install h5py
# # RUN apt-get install gfortran -y
# #
# # # install sript specific dependencies (temporal)
# # RUN apt-get install python-skimage -y
# #
# # # install Theano
# # #RUN git clone git://github.com/Theano/Theano.git
# # #RUN cd Theano/ && python setup.py develop
# # RUN pip install Theano
# #
# # # install Keras
# # RUN pip install keras
#
#--------------------
# Install gym-gazebo
#--------------------

RUN cd gym-gazebo && pip3 install -e .

# # old method
# # install dependencies
# RUN cd /usr/local/gym/gym-gazebo/gym_gazebo/envs/installation && bash setup.bash

#WORKDIR /root
#ENTRYPOINT ["/usr/local/gym/bin/docker_entrypoint"]

# setup entrypoint
#RUN ls /usr/local/gym/gym-gazebo/
#RUN ls ./gym-gazebo
#COPY /usr/local/gym/gym-gazebo/entrypoint.sh /
#
#--------------------
# Entry point
#--------------------

COPY entrypoint.sh /

ENTRYPOINT ["/entrypoint.sh"]
CMD ["bash"]