# Verify tines-ros2's rclrs-backed node compiles against a real ROS 2 toolchain.
#
# Build:   docker build -f Dockerfile.ros2 -t tines-ros2-check .
# The final layer runs `cargo build -p tines-ros2 --features ros2` with the
# ROS 2 environment sourced, so a successful build proves the gated node.rs
# (and the bytes-payload mapping) type-check and link against rclrs.
#
# rclrs 0.8 supports Jazzy (LTS) / Kilted / Lyrical / Rolling. Jazzy is used
# here because it is the current LTS and matches Ubuntu 24.04.

FROM ros:jazzy-ros-base

# Rust toolchain + the native build deps for rclrs (bindgen/cmake) and for
# tines-bt's bluer (D-Bus/udev dev headers).
RUN apt-get update && apt-get install -y --no-install-recommends \
        build-essential pkg-config cmake curl ca-certificates \
        libclang-dev clang \
        libdbus-1-dev libudev-dev \
    && rm -rf /var/lib/apt/lists/* \
    && curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs \
        | sh -s -- -y --profile minimal
ENV PATH="/root/.cargo/bin:${PATH}"

WORKDIR /workspace

# Copy the whole workspace (cargo needs every member's Cargo.toml present).
# .dockerignore excludes **/target and .git.
COPY Cargo.toml Cargo.lock ./
COPY tines-core ./tines-core
COPY tines-store ./tines-store
COPY tines-bt ./tines-bt
COPY tines-sim ./tines-sim
COPY tines-ros2 ./tines-ros2
COPY tines ./tines

# Source the ROS 2 environment so rclrs/ros_env find the C libraries and
# message packages, then compile the gated node with its `ros2` feature.
RUN . /opt/ros/jazzy/setup.sh \
    && cargo build -p tines-ros2 --features ros2