Dockerfile

# Copyright 2016 - 2018  Ternaris.
# SPDX-License-Identifier: AGPL-3.0-only

FROM ros:kinetic-ros-base

# This warning can simply be ignore:
# debconf: delaying package configuration, since apt-utils is not installed
ARG DEBIAN_FRONTEND=noninteractive
RUN apt-get update && \
    apt-get upgrade -y && \
    apt-get install -y \
        bash-completion \
        bc \
        capnproto \
        curl \
        ffmpeg \
        iputils-ping \
        jq \
        less \
        libcapnp-dev \
	libffi-dev \
	libfreetype6-dev \
        libjpeg-dev \
	libpng-dev \
        libssl-dev \
        libz-dev \
        locales \
        lsof \
        man \
        python-cv-bridge \
        python2.7-dev \
        python-opencv \
        python-pip \
        ros-kinetic-laser-geometry \
        ros-kinetic-ros-base \
        rsync \
        sqlite3 \
        ssh \
        unzip \
        vim \
    && rm -rf /var/lib/apt/lists/*
RUN pip install -U pip==10.0.1 pip-tools==2.0.2 setuptools==39.2.0 virtualenv==16.0.0 wheel==0.31.0

RUN locale-gen en_US.UTF-8; dpkg-reconfigure -f noninteractive locales
ENV LANG en_US.UTF-8
ENV LANGUAGE en_US.UTF-8
ENV LC_ALL en_US.UTF-8

ARG MARV_UID=1000
ARG MARV_GID=1000

RUN groupadd -g $MARV_GID marv && \
    useradd -m -u $MARV_UID -g $MARV_GID --shell /bin/bash marv

ARG venv=/opt/marv

ENV MARV_VENV=$venv
RUN bash -c '\
if [[ -n "$MARV_VENV" ]]; then \
    mkdir $MARV_VENV; \
    chown marv:marv $MARV_VENV; \
fi'

USER marv

COPY requirements.txt /
RUN bash -c '\
if [[ -n "$MARV_VENV" ]]; then \
    virtualenv -p python2.7 --system-site-packages $MARV_VENV; \
    $MARV_VENV/bin/pip install -U pip==10.0.1 setuptools==39.2.0 wheel==0.31.0; \
    $MARV_VENV/bin/pip install -U -r /requirements.txt; \
    $MARV_VENV/bin/pip install -U --force-reinstall --no-binary :all: uwsgi; \
    sed -e "s|^backend .*|backend : Agg|" \
        -i $MARV_VENV/lib/python2.7/site-packages/matplotlib/mpl-data/matplotlibrc; \
fi'

ARG code=code

COPY --chown=marv:marv ${code:-requirements.txt} /home/marv/code
RUN bash -c '\
if [[ -z "$code" ]]; then \
    rm /home/marv/code; \
fi'

ARG docs=docs

COPY --chown=marv:marv CHANGES.rst /home/marv/CHANGES.rst
COPY --chown=marv:marv tutorial /home/marv/tutorial
COPY --chown=marv:marv ${docs:-requirements.txt} /home/marv/docs
RUN bash -c '\
if [[ -z "$docs" ]]; then \
    rm -r /home/marv/docs /home/marv/CHANGES.rst /home/marv/tutorial; \
fi'

ARG scripts=scripts

COPY --chown=marv:marv ${scripts:-requirements.txt} /home/marv/scripts
RUN bash -c '\
if [[ -z "$scripts" ]]; then \
    rm /home/marv/scripts; \
fi'

ARG version=

RUN bash -c '\
if [[ -n "$MARV_VENV" ]]; then \
    if [[ -z "$code" ]]; then \
        ${MARV_VENV}/bin/pip install marv-robotics${version:+==${version}}; \
    else \
        find /home/marv/code -maxdepth 2 -name setup.py -execdir ${MARV_VENV}/bin/pip install --no-deps . \; ;\
        ${MARV_VENV}/bin/pip install /home/marv/code/marv-robotics; \
        (source "/opt/ros/$ROS_DISTRO/setup.bash"; source $MARV_VENV/bin/activate; /home/marv/scripts/build-docs); \
        ${MARV_VENV}/bin/pip install -U --no-deps /home/marv/code/marv-robotics; \
    fi \
fi'

USER root

COPY .docker/entrypoint.sh /marv_entrypoint.sh
COPY .docker/env.sh /etc/profile.d/marv_env.sh
RUN echo 'source /etc/profile.d/marv_env.sh' >> /etc/bash.bashrc

ENV ACTIVATE_VENV=1
ENTRYPOINT ["/marv_entrypoint.sh"]
CMD ["/opt/marv/bin/uwsgi", "--die-on-term", "--strict", "--uid", "marv", "--gid", "marv", "--ini", "uwsgi.conf"]