FROM ros:jazzy-ros-base-noble

# Install pyserial
RUN apt-get update && apt-get install -y \
    python3-pip \
    && rm -rf /var/lib/apt/lists/*

RUN pip3 install --break-system-packages pyserial

# Create workspace
WORKDIR /ros2_ws

# Copy the package
COPY ultrasonic_sensor /ros2_ws/src/ultrasonic_sensor

# Build the package
RUN . /opt/ros/jazzy/setup.sh && \
    colcon build --packages-select ultrasonic_sensor

# Source setup in bashrc for interactive use
RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc && \
    echo "source /ros2_ws/install/setup.bash" >> ~/.bashrc

# Create entrypoint script
RUN echo '#!/bin/bash\n\
set -e\n\
source /opt/ros/jazzy/setup.bash\n\
source /ros2_ws/install/setup.bash\n\
exec "$@"' > /ros2_entrypoint.sh && \
    chmod +x /ros2_entrypoint.sh

ENTRYPOINT ["/ros2_entrypoint.sh"]
CMD ["ros2", "run", "ultrasonic_sensor", "ultrasonic_node"]