# Multi-stage build for the RealSense D4xx API server on aarch64 (Jetson)
# and x86_64. The Intel apt repo ships librealsense2 runtime for arm64
# but no pyrealsense2 wheel, so the Python bindings are built from source
# in a dedicated builder stage and copied into the runtime image.

# ---------------------------------------------------------------------------
# Stage 1: build pyrealsense2 (Python bindings) from source
# ---------------------------------------------------------------------------
FROM ubuntu:22.04 AS librealsense-builder
ENV DEBIAN_FRONTEND=noninteractive
# Pinned to v2.50.0: this is the version proven to work with the D435i
# firmware 05.15.x shipped on the G1 robot. v2.55+ opens the device but
# wait_for_frames times out (likely an interaction between the newer USB
# backend and the older D4xx firmware).
ARG RS_VERSION=v2.50.0

RUN apt-get update && apt-get install -y --no-install-recommends \
        git cmake build-essential pkg-config ca-certificates \
        libssl-dev libusb-1.0-0-dev libudev-dev \
        python3 python3-dev python3-pip \
    && rm -rf /var/lib/apt/lists/*

WORKDIR /src
RUN git clone --depth 1 --branch ${RS_VERSION} https://github.com/IntelRealSense/librealsense.git

WORKDIR /src/librealsense/build
RUN cmake .. \
        -DCMAKE_BUILD_TYPE=Release \
        -DBUILD_EXAMPLES=OFF \
        -DBUILD_GRAPHICAL_EXAMPLES=OFF \
        -DBUILD_TOOLS=OFF \
        -DBUILD_UNIT_TESTS=OFF \
        -DBUILD_NETWORK_DEVICE=OFF \
        -DBUILD_PYTHON_BINDINGS=ON \
        -DPYTHON_EXECUTABLE=/usr/bin/python3 \
        -DCMAKE_INSTALL_PREFIX=/opt/install \
    && make -j$(nproc) \
    && make install

# Collect both the python bindings and the native runtime .so. We copy them
# from the builder stage rather than apt-installing librealsense2 in the
# runtime stage, so the .so version always matches the bindings.
RUN mkdir -p /opt/pyrealsense2 /opt/librealsense-runtime \
    && cp -r /usr/lib/python3/dist-packages/pyrealsense2/. /opt/pyrealsense2/ 2>/dev/null || true \
    && find /src/librealsense/build -name 'pyrealsense2*.so' -exec cp {} /opt/pyrealsense2/ \; \
    && find /src/librealsense/build -name 'librealsense2.so*' -exec cp -P {} /opt/librealsense-runtime/ \; \
    && ( [ -f /opt/pyrealsense2/__init__.py ] || printf 'from .pyrealsense2 import *\n' > /opt/pyrealsense2/__init__.py ) \
    && echo "=== /opt/pyrealsense2 ===" && ls -la /opt/pyrealsense2 \
    && echo "=== /opt/librealsense-runtime ===" && ls -la /opt/librealsense-runtime

# ---------------------------------------------------------------------------
# Stage 2: runtime image
#
# Note: the React frontend is built on the host (npm in the Jetson's Docker
# can't reach registry.npmjs.org — systemd-resolved stub at 127.0.0.53
# doesn't work inside containers). Build with:
#   docker run --rm --dns 8.8.8.8 -v $(pwd)/src/frontend/react:/app \
#     -w /app node:22-alpine sh -c 'npm install && npm run build'
# Then `docker compose build` just copies the prebuilt dist/.
# ---------------------------------------------------------------------------
FROM ubuntu:22.04 AS runtime
ENV DEBIAN_FRONTEND=noninteractive

RUN apt-get update && apt-get install -y --no-install-recommends \
        ca-certificates \
        python3 python3-pip python3-venv \
        libusb-1.0-0 libudev1 \
        libgl1 libglib2.0-0 libsm6 libxext6 libxrender1 \
        usbutils \
    && rm -rf /var/lib/apt/lists/*

# librealsense native runtime — copied straight from the builder stage so
# the .so version matches the python bindings exactly (see RS_VERSION above
# for why we don't apt-install).
COPY --from=librealsense-builder /opt/librealsense-runtime/ /usr/local/lib/
RUN ldconfig

# Python bindings (built in stage 1). System Python 3.10 looks in
# /usr/lib/python3/dist-packages, so install there.
COPY --from=librealsense-builder /opt/pyrealsense2 /usr/lib/python3/dist-packages/pyrealsense2

WORKDIR /app

# Python dependencies — keep this layer cacheable: install before copying source.
RUN pip3 install --no-cache-dir \
        "fastapi>=0.115" \
        "uvicorn[standard]>=0.34" \
        "pydantic>=2.0" \
        "pydantic-settings>=2.0" \
        "python-dotenv>=1.0" \
        "nats-py>=2.9" \
        "numpy>=1.24,<2" \
        "opencv-python-headless>=4.8"

# Application source
COPY src/backend/ src/backend/
COPY src/frontend/react/dist/ src/frontend/react/dist/

# Entrypoint
COPY scripts/entrypoint.sh /app/entrypoint.sh
RUN chmod +x /app/entrypoint.sh

# Optional .env (compose can also inject via env_file)
COPY .env* ./

EXPOSE 8878

ENTRYPOINT ["/app/entrypoint.sh"]