FROM ubuntu:24.04

ENV PIP_BREAK_SYSTEM_PACKAGES=1 \
    SHELL=/bin/bash

ARG USERNAME=can_viewer
ARG USER_UID=1000
ARG USER_GID=${USER_UID}

RUN if id -u "${USER_UID}" >/dev/null 2>&1; then \
      userdel "$(id -un "${USER_UID}")"; \
    fi \
 && groupadd --gid "${USER_GID}" "${USERNAME}" \
 && useradd --uid "${USER_UID}" --gid "${USER_GID}" -m "${USERNAME}" \
 && apt-get update \
 && apt-get install -y --no-install-recommends sudo \
 && echo "${USERNAME} ALL=(root) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} \
 && chmod 0440 /etc/sudoers.d/${USERNAME}

RUN apt-get update \
 && apt-get upgrade -y \
 && apt-get install -y --no-install-recommends \
      python3-pip \
      nano \
      python3-rosdep \
 && rm -rf /var/lib/apt/lists/*

RUN pip3 install --no-cache-dir python-can cantools

RUN echo "source /opt/ros/jazzy/setup.bash" \
      >> /home/${USERNAME}/.bashrc \
 && echo "source /workspaces/can_viewer/install/setup.bash" \
      >> /home/${USERNAME}/.bashrc

RUN usermod --shell /bin/bash -aG video ${USERNAME}

WORKDIR /workspaces/can_viewer
COPY --chown=${USERNAME}:${USERNAME} ros2_ws/src ros2_ws/src

RUN rosdep update \
 && rosdep install -r --rosdistro jazzy \
      --from-paths ros2_ws/src --ignore-src -y

USER ${USERNAME}

CMD ["/bin/bash"]