#!/usr/bin/env bash
set -euo pipefail

MODULE_PATH="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
MODULE_ROOT="$(dirname "$MODULE_PATH")"
MODULE_FOLDER="$(basename "$MODULE_PATH")"
IMAGE="${NAV2_DOCKER_IMAGE:-future-nav2-camera-test:humble-jetson_orin}"

docker image inspect "$IMAGE" >/dev/null
docker run --rm \
  -v "$MODULE_ROOT:/modules" \
  -w "/modules/$MODULE_FOLDER" \
  "$IMAGE" bash -lc '
    set -e
    source /opt/ros/humble/setup.bash
    rm -rf build install log
    colcon --log-base log build --base-paths src --build-base build --install-base install \
      --packages-up-to camera_test_pkg --cmake-args -DBUILD_TESTING=OFF
  '

exec docker run --rm -v "$MODULE_ROOT:/modules" "$IMAGE" bash -lc \
  "chown -R $(id -u):$(id -g) '/modules/$MODULE_FOLDER/build' '/modules/$MODULE_FOLDER/install' '/modules/$MODULE_FOLDER/log'"