# syntax=docker/dockerfile:1
# PX4 SITL SIH runtime image
# Minimal container that runs PX4 with the SIH physics engine (no Gazebo).
#
# Build:
#   make px4_sitl_sih && cd build/px4_sitl_sih && cpack -G DEB && cd ../..
#   docker build -f Tools/packaging/Dockerfile.sih -t px4io/px4-sitl:v1.17.0 build/px4_sitl_sih/
#
# Run (Linux):
#   docker run --rm -it --network host px4io/px4-sitl:v1.17.0
#
# Run (macOS / Windows):
#   docker run --rm -it -p 14550:14550/udp -p 14540:14540/udp -p 19410:19410/udp -p 8888:8888/udp px4io/px4-sitl:v1.17.0
#
# Persist flight logs on the host (ulog files):
#   mkdir -p ./px4-logs
#   docker run --rm -it --network host \
#     -v $(pwd)/px4-logs:/root/.local/share/px4/rootfs/log \
#     px4io/px4-sitl:v1.17.0

FROM ubuntu:24.04
LABEL maintainer="PX4 Development Team"
LABEL description="PX4 SITL with SIH physics (no simulator dependencies)"

ENV DEBIAN_FRONTEND=noninteractive

# Install px4 via apt so Depends: are resolved automatically. The binary is
# stripped after install to trim image size (~a few MB).
COPY px4_*.deb /tmp/
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
    --mount=type=cache,target=/var/lib/apt,sharing=locked \
    apt-get update \
    && apt-get install -y --no-install-recommends \
        /tmp/px4_*.deb \
        bc \
        binutils \
    && strip /opt/px4/bin/px4 \
    && apt-get purge -y binutils \
    && apt-get autoremove -y \
    && rm -f /tmp/px4_*.deb \
    && ln -sf /opt/px4/bin/px4 /usr/bin/px4

# Platform-adaptive entrypoint: detects Docker Desktop (macOS/Windows) via
# host.docker.internal and configures MAVLink + DDS to target the host.
COPY px4-entrypoint.sh /opt/px4/bin/px4-entrypoint.sh
RUN chmod +x /opt/px4/bin/px4-entrypoint.sh

ENV PX4_SIM_MODEL=sihsim_quadx
ENV HOME=/root

# MAVLink (QGC, MAVSDK), DDS (ROS 2), jMAVSim/viewer display
EXPOSE 14550/udp 14540/udp 19410/udp 8888/udp

WORKDIR /root

ENTRYPOINT ["/opt/px4/bin/px4-entrypoint.sh"]
CMD []