Dockerfile.master

FROM nvidia/cuda:11.7.1-cudnn8-devel-ubuntu20.04

ARG HTTP_PROXY
ARG HTTPS_PROXY
ARG http_proxy

RUN apt-get update && apt-get install --reinstall -y locales && locale-gen en_US.UTF-8 && rm -rf /var/lib/apt/lists/*
ENV LANG en_US.UTF-8
ENV LANGUAGE en_US
ENV LC_ALL en_US.UTF-8
ENV DEBIAN_FRONTEND=noninteractive

# Install dependencies
RUN apt-get update && apt-get install -y --no-install-recommends \
    build-essential \
    cmake \
    git \
    curl \
    vim \
    ca-certificates \
    libjpeg-dev \
    libpng16-16 \
    libtiff5 \
    libpng-dev \
    python3-dev \
    python3-pip \
    python3-setuptools && \
    python3 -m pip install --upgrade pip && \
    rm -rf /var/lib/apt/lists/*

# Installing conda
RUN curl -o ~/miniconda.sh -LO https://repo.continuum.io/miniconda/Miniconda3-latest-Linux-x86_64.sh  && \
    chmod +x ~/miniconda.sh && \
    ~/miniconda.sh -b -p /opt/conda && \
    rm ~/miniconda.sh && \
    /opt/conda/bin/conda clean -ya && \
    /opt/conda/bin/conda create -n python310 python=3.10 numpy networkx scipy six requests

ENV PATH "/opt/conda/envs/python310/bin":"/opt/conda/envs/bin":$PATH

# Copy the files into the docker
WORKDIR /workspace

ENV CARLA_ROOT "/workspace/CARLA"
ENV SCENARIO_RUNNER_ROOT "/workspace/scenario_runner"
ENV LEADERBOARD_ROOT "/workspace/leaderboard"
ENV TEAM_CODE_ROOT "/workspace/team_code"

COPY PythonAPI ${CARLA_ROOT}/PythonAPI
COPY scenario_runner ${SCENARIO_RUNNER_ROOT}
COPY leaderboard ${LEADERBOARD_ROOT}
COPY team_code ${TEAM_CODE_ROOT}

# RUN pip3 install -r ${SCENARIO_RUNNER_ROOT}/requirements.txt
# RUN pip3 install -r ${LEADERBOARD_ROOT}/requirements.txt

RUN mkdir -p /workspace/results
RUN chmod +x /workspace/leaderboard/scripts/run_evaluation.sh

ENV PYTHONPATH "${SCENARIO_RUNNER_ROOT}":"${CARLA_ROOT}/PythonAPI/carla":"${LEADERBOARD_ROOT}":"${TEAM_CODE_ROOT}":${PYTHONPATH}

############################################################################################
####                     BEGINNING OF AGENT SPECIFIC COMMANDS                           ####
############################################################################################

RUN apt-get update && apt-get install -y --no-install-recommends libgl1
RUN apt-get install -y --no-install-recommends libglib2.0-0 libsm6 libxrender1 libxext6
ENV TEAM_AGENT ${TEAM_CODE_ROOT}/sensor_agent.py
ENV TEAM_CONFIG ${TEAM_CODE_ROOT}/model_ckpt/leaderboard/
ENV MODEL_PREFIX model_
ENV STOP_AFTER_METER 2100
ENV CHALLENGE_TRACK_CODENAME SENSORS
ENV DEBUG_CHALLENGE 0
RUN pip3 uninstall -y setuptools
RUN pip3 install setuptools==59.8.0
RUN pip3 install -r ${TEAM_CODE_ROOT}/requirements.txt

############################################################################################
####                        END OF AGENT SPECIFIC COMMANDS                              ####
############################################################################################

ENV ROUTES ${LEADERBOARD_ROOT}/data/routes_training.xml
ENV REPETITIONS 1
ENV CHECKPOINT_ENDPOINT /workspace/results/results.json

ENV HTTP_PROXY ""
ENV HTTPS_PROXY ""
ENV http_proxy ""
ENV https_proxy ""

CMD ["/bin/bash"]