From c2167c4af62cef8a9145c6b5b37131cc4060acaf Mon Sep 17 00:00:00 2001
From: manx52 <jonathanspraggett@gmail.com>
Date: Thu, 3 Oct 2024 12:04:03 -0400
Subject: [PATCH] fixed sim docker for the new way to download webots. minor
 fixes to unit test

---
 external/.dockerignore                        | 21 ------------------
 external/Dockerfile                           | 22 +++++++++----------
 .../soccer_pycontrol/test/test_placo.py       |  5 +----
 3 files changed, 12 insertions(+), 36 deletions(-)

diff --git a/external/.dockerignore b/external/.dockerignore
index 7d4e5912c..b4533c9d1 100644
--- a/external/.dockerignore
+++ b/external/.dockerignore
@@ -1,24 +1,3 @@
-webots/.*
-webots/.clang-format
-webots/msys64
-webots/webots
-webots/webots.lnk
-webots/webots_debug_output.txt
-webots/util
-webots/bin/webots-bin
-webots/**/*.exe
-webots/**/*.o
-webots/**/*.d
-webots/**/*.class
-webots/**/*.so
-webots/**/*.dylib
-webots/**/*.dll
-webots/**/*.lib
-webots/**/*.a
-webots/**/*.cof
-webots/**/*.hex
-webots/**/*.pyc
-webots/**/*.gch
 GameController/.*
 GameController/build/
 hlvs_webots/controllers/referee/meshes/*
diff --git a/external/Dockerfile b/external/Dockerfile
index 508f59907..82e9ce8cb 100644
--- a/external/Dockerfile
+++ b/external/Dockerfile
@@ -1,7 +1,7 @@
 FROM nvidia/cudagl:11.4.2-base
 
 ENV DEBIAN_FRONTEND=noninteractive
-
+#TODO how should i split, should it be its own repo?. The dockerfile should be in hlvs_webots and we can probably rebuild when there is a puch on it
 # Install dependencies
 RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
 RUN apt update && \
@@ -37,15 +37,16 @@ RUN apt update && apt-fast install -y \
 
 RUN pip3 install transforms3d
 
-WORKDIR /usr/local
+ARG WEBOTS_VERSION="2022b"
+ARG WEBOTS_DOWNLOAD_URL="https://github.com/cyberbotics/webots/releases/download/R${WEBOTS_VERSION}/webots_${WEBOTS_VERSION}_amd64.deb"
+
+RUN wget --no-verbose --show-progress "$WEBOTS_DOWNLOAD_URL" -O "/tmp/webots_${WEBOTS_VERSION}.deb" && sudo apt-get install "/tmp/webots_${WEBOTS_VERSION}.deb" -y
 
-COPY webots/scripts webots/scripts
-RUN ./webots/scripts/install/linux_compilation_dependencies.sh
+ENV WEBOTS_HOME /usr/local/webots
+RUN echo "export WEBOTS_HOME=/usr/local/webots" >> ~/.bashrc
+RUN echo "export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$WEBOTS_HOME/lib/controller"  >> ~/.bashrc
+RUN echo "export PYTHONPATH=$PYTHONPATH:$WEBOTS_HOME/lib/controller/python38"  >> ~/.bashrc && source ~/.bashrc
 
-COPY webots webots
-RUN echo WEBOTS_HOME="/usr/local/webots" >> ~/.bashrc && \
-    cd webots && \
-    export WEBOTS_HOME="/usr/local/webots" && make
 
 COPY GameController GameController
 RUN apt update && apt-fast -y install ant protobuf-compiler libprotobuf-dev libjpeg9-dev && \
@@ -59,13 +60,12 @@ RUN cd hlvs_webots/controllers/referee && \
 
 RUN apt-get install -y protobuf-compiler libprotobuf-dev libjpeg9-dev && \
     cd hlvs_webots && \
-    WEBOTS_HOME=/usr/local/webots make clean && \
-    WEBOTS_HOME=/usr/local/webots make
+    make clean && \
+    make
 
 RUN pip3 install pyyaml
 
 ENV QTWEBENGINE_DISABLE_SANDBOX=1
-ENV WEBOTS_HOME /usr/local/webots
 ENV GAME_CONTROLLER_HOME /usr/local/GameController
 
 SHELL ["/bin/bash", "-c"]
diff --git a/soccer_control/soccer_pycontrol/test/test_placo.py b/soccer_control/soccer_pycontrol/test/test_placo.py
index 005417ba3..592b3188d 100644
--- a/soccer_control/soccer_pycontrol/test/test_placo.py
+++ b/soccer_control/soccer_pycontrol/test/test_placo.py
@@ -21,11 +21,8 @@ def test_bez1(self):
             real_time=REAL_TIME,
             rate=200,
         )
-        self.bez = Bez(robot_model="bez1", pose=Transformation())
+        self.bez = Bez(robot_model="bez2", pose=Transformation())
         walk = Navigator(self.world, self.bez)
-        # walk.ready()
-        # self.bez.motor_control.set_motor()
-        # walk.wait(50)
         target_goal = [0.08, 0, 0, 3, 500]
         # target_goal = Transformation(position=[1, 0, 0], euler=[0, 0, 0])
         walk.walk(target_goal)