# Copyright (c) 2021-2022, NVIDIA CORPORATION.  All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto.  Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.

# Docker file for aarch64 based Jetson device
ARG BASE_IMAGE="nvcr.io/nvidia/l4t-base:35.4.1"
FROM ${BASE_IMAGE}

# Disable terminal interaction for apt
ENV DEBIAN_FRONTEND=noninteractive
ENV SHELL /bin/bash
SHELL ["/bin/bash", "-c"]

# Ensure we have universe
RUN apt-get update \
        && apt-get install -y software-properties-common \
        && add-apt-repository universe

# Fundamentals
RUN apt-get update && apt-get install -y \
    build-essential \
    ca-certificates \
    curl \
    git \
    gnupg2 \
    iputils-ping \
    lsb-release \
    sudo \
    tar \
    unzip \
    vim \
    wget \
    libgoogle-glog-dev \
    software-properties-common \
&& rm -rf /var/lib/apt/lists/* \
&& apt-get clean

# Upgrade cmake to 3.22.1 to match Ubuntu 22.04
# Key rotation 2024-01-10
RUN wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null \
    && echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ focal main' | tee /etc/apt/sources.list.d/kitware.list >/dev/null \
    && apt-get update \
    && apt-get remove -y cmake && apt-get purge -y cmake && apt-get remove -y cmake-data && apt-get purge -y cmake-data \
    && apt-get install -y cmake=3.22.1-0kitware1ubuntu20.04.1 cmake-data=3.22.1-0kitware1ubuntu20.04.1 \
    && cmake --version \
&& rm -rf /var/lib/apt/lists/* \
&& apt-get clean

# Set Python3 as default
RUN update-alternatives --install /usr/bin/python python /usr/bin/python3 1

# Python basics
RUN apt-get update && apt-get install -y \
        python3-dev \
        python3-flake8 \
        python3-pip \
        python3-pytest-cov \
&& rm -rf /var/lib/apt/lists/* \
&& apt-get clean

# Install OpenCV dependencies
RUN apt-get update && apt-get install -y \
    libavformat-dev \
    libjpeg-dev \
    libopenjp2-7-dev \
    libpng-dev \
    libpq-dev \
    libswscale-dev \
    libtbb2 \
    libtbb-dev \
    libtiff-dev \
    pkg-config \
    yasm \
&& rm -rf /var/lib/apt/lists/* \
&& apt-get clean

# Install additional packages needed for ROS 2 dependencies
RUN apt-get update && apt-get install -y \
    python3-distutils \
    libboost-all-dev \
    libboost-dev \
    libpcl-dev \
    libode-dev \
    lcov \
    python3-zmq \
    libxaw7-dev \
    libgraphicsmagick++1-dev \
    graphicsmagick-libmagick-dev-compat \
    libceres-dev \
    libsuitesparse-dev \
    libncurses5-dev \
    libassimp-dev \
    libyaml-cpp-dev \
    libpcap-dev \
&& rm -rf /var/lib/apt/lists/* \
&& apt-get clean

# sklearn dependencies
RUN apt-get update && apt-get install -y \
    gfortran \
    libatlas-base-dev \
    python3-scipy \
&& rm -rf /var/lib/apt/lists/* \
&& apt-get clean

# sklearn Python dependencies
RUN python3 -m pip install -U \
    Cython \
    wheel

# Install sklearn
RUN python3 -m pip install -U \
    scikit-learn

# Install Git-LFS
RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash && \
        apt-get update && apt-get install -y \
        git-lfs \
&& rm -rf /var/lib/apt/lists/* \
&& apt-get clean

# Install TensorRT and VPI
RUN apt-get update && apt-get install -y \
        tensorrt \
        vpi2-dev \
&& rm -rf /var/lib/apt/lists/* \
&& apt-get clean

# Install tao-converter
COPY tao/tao-converter-aarch64-tensorrt8.4.zip /opt/nvidia/tao/tao-converter-aarch64-tensorrt8.4.zip
RUN mkdir -p /opt/nvidia/tao && \
    cd /opt/nvidia/tao && \
    unzip -j tao-converter-aarch64-tensorrt8.4.zip -d /opt/nvidia/tao/jp5 && \
    chmod 755 $(find /opt/nvidia/tao -name "tao-converter") && \
    ln -sf $(find /opt/nvidia/tao -name "tao-converter")  /opt/nvidia/tao/tao-converter && \
    rm tao-converter-aarch64-tensorrt8.4.zip

ENV PATH="${PATH}:/opt/nvidia/tao"

# Update environment
ENV LD_LIBRARY_PATH="/opt/nvidia/vpi2/lib64:${LD_LIBRARY_PATH}"
ENV LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu/tegra:${LD_LIBRARY_PATH}"
ENV LD_LIBRARY_PATH="/usr/local/cuda-11.4/targets/aarch64-linux/lib:${LD_LIBRARY_PATH}"
ENV LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu/tegra-egl:${LD_LIBRARY_PATH}"
ENV LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu/tegra/weston:${LD_LIBRARY_PATH}"
ENV LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:/usr/lib/aarch64-linux-gnu-host"
ENV PATH="${PATH}:/usr/local/cuda/bin"

# https://forums.developer.nvidia.com/t/error-importerror-usr-lib-aarch64-linux-gnu-libgomp-so-1-cannot-allocate-memory-in-static-tls-block-i-looked-through-available-threads-already/166494/3
ENV LD_PRELOAD="/usr/lib/aarch64-linux-gnu/libgomp.so.1"

# PyTorch (NV CUDA edition)
# https://docs.nvidia.com/deeplearning/frameworks/install-pytorch-jetson-platform/index.html
RUN python3 -m pip install --no-cache \
        https://developer.download.nvidia.cn/compute/redist/jp/v50/pytorch/torch-1.13.0a0+340c4120.nv22.06-cp38-cp38-linux_aarch64.whl

# Install Triton server 2.24 from https://github.com/triton-inference-server/server/releases/tag/v2.24.0
RUN apt-get update && apt-get install -y --no-install-recommends \
    autoconf \
    automake \
    libb64-dev \
    libcurl4-openssl-dev \
    libopenblas-dev \
    libre2-dev \
    libssl-dev \
    libtool \
    patchelf \
    rapidjson-dev \
    zlib1g-dev \
&& rm -rf /var/lib/apt/lists/* \
&& apt-get clean

RUN mkdir -p /opt/tritonserver && cd /opt/tritonserver \
    && wget https://github.com/triton-inference-server/server/releases/download/v2.24.0/tritonserver2.24.0-jetpack5.0.2.tgz \
    && tar -xzvf tritonserver2.24.0-jetpack5.0.2.tgz \
    && rm tritonserver2.24.0-jetpack5.0.2.tgz

ENV LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:/opt/tritonserver/lib"

# Add MQTT binaries and libraries
RUN apt-add-repository ppa:mosquitto-dev/mosquitto-ppa \
    && apt-get update && apt-get install -y \
        mosquitto \
        mosquitto-clients \
&& rm -rf /var/lib/apt/lists/* \
&& apt-get clean

# Note: VPN cannot be on for pymongo download
RUN python3 -m pip install -U \
  pymongo \
  paho-mqtt

# Core dev libraries
RUN apt-get update && apt-get install -y \
        libasio-dev \
        libbullet-dev \
        libtinyxml2-dev \
        libcunit1-dev \
        libopencv-dev=4.2.0+dfsg-5 \
        python3-opencv=4.2.0+dfsg-5 \
&& rm -rf /var/lib/apt/lists/* \
&& apt-get clean

# NPP library
RUN apt-get update && apt-get install -y --no-install-recommends \
        libnpp-dev-11-4 \
&& rm -rf /var/lib/apt/lists/* \
&& apt-get clean

# Upgrade libc to resolve vulnerabilities including CVE-2019-11477
RUN apt-get update && apt-get install -y --only-upgrade \
       linux-libc-dev \
&& rm -rf /var/lib/apt/lists/* \
&& apt-get clean

# Downgrade protobuf
RUN python3 -m pip install \
        protobuf==3.20.1

# # GPU usage monitoring on Jetson
# RUN python3 -m pip install -U \
#   jetson-stats

# Apply libcudacxx patch for fixing C++17 compilation errors in GXF
COPY patches/libcudacxx_aarch64_cuda_11_4.diff /tmp/
RUN patch -i /tmp/libcudacxx_aarch64_cuda_11_4.diff /usr/local/cuda-11.4/targets/aarch64-linux/include/cuda/std/detail/libcxx/include/cmath