Dockerfile-arm64_cross

# Do not publish to dockerhub
FROM ubuntu:18.04

ARG DEBIAN_FRONTEND=noninteractive

RUN apt-get --yes update  \
 && apt-get --yes install \
    nano \
    git \
    wget \
    curl \
    unzip \
    locales \
    apt-transport-https \
    ca-certificates \
    curl \
    software-properties-common \
    sudo \
    build-essential \
    swig \
    cmake \
    openjdk-17-jdk \
    gcc-aarch64-linux-gnu \
    binutils-aarch64-linux-gnu \
    g++-aarch64-linux-gnu \
 && rm -rf /var/lib/apt/lists/*

RUN locale-gen en_US.UTF-8
ENV LANG=en_US.UTF-8
ENV LANGUAGE=en_US:en
ENV LC_ALL=en_US.UTF-8

ENV JAVA_HOME=/usr/lib/jvm/java-17-openjdk-amd64
ENV PATH=$PATH:$JAVA_HOME/bin

# Installing SOEM
WORKDIR /opt
RUN git clone https://github.com/OpenEtherCATsociety/SOEM.git
WORKDIR /opt/SOEM
RUN git checkout v1.4.0
RUN mkdir build && cd build
WORKDIR /opt/SOEM/build
RUN cmake -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc \
    -DCMAKE_CXX_COMPILER=aarch64-linux-gnu-g++ \
    -DCMAKE_FIND_ROOT_PATH=/usr/aarch64-linux-gnu \
    -DCMAKE_PROGRAM_PATH=/usr/aarch64-linux-gnu/bin \
    -DHOST_INSTALL="" -DCMAKE_INSTALL_PREFIX=/usr \
    -DCMAKE_POSITION_INDEPENDENT_CODE=true \
    -DCMAKE_BUILD_TYPE=Release \
    ..
RUN make
RUN make install

# Setup a robotlab user as the development user, to avoid using root.
# Allows using sudo with robotlab user without a password.
RUN addgroup robotlab \
 && adduser --uid 1000 --gid 1000 --home /home/robotlab --disabled-password robotlab \
 && chown -R robotlab /home/robotlab \
 && adduser robotlab sudo \
 && echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
USER robotlab
WORKDIR /home/robotlab

RUN mkdir -p /home/robotlab/dev/ihmc-ethercat-master/build
RUN mkdir -p /home/robotlab/dev/ihmc-ethercat-master/src
RUN mkdir -p /home/robotlab/dev/ihmc-ethercat-master/swig
VOLUME /home/robotlab/dev/ihmc-ethercat-master/build
VOLUME /home/robotlab/dev/ihmc-ethercat-master/src
VOLUME /home/robotlab/dev/ihmc-ethercat-master/swig
WORKDIR /home/robotlab/dev/ihmc-ethercat-master

ENTRYPOINT ["/bin/bash"]
CMD ["build-arm64_cross.sh"]