Dockerfile.carla

FROM carlasim/carla:0.9.15

USER root

ARG HTTP_PROXY
ARG HTTPS_PROXY

ENV http_proxy=${HTTP_PROXY}
ENV https_proxy=${HTTPS_PROXY}
ENV HTTP_PROXY=${HTTP_PROXY}
ENV HTTPS_PROXY=${HTTPS_PROXY}

RUN echo "Using proxy: $HTTP_PROXY" && env | grep -i proxy

SHELL ["/bin/bash", "-c"]

# Add retry helper
RUN printf '#!/bin/bash\nfor i in {1..6}; do "$@" && break || sleep 10; done\n' > /usr/local/bin/retry && \
    chmod +x /usr/local/bin/retry

# Install dependencies
RUN retry apt-get -o Acquire::http::Proxy="$HTTP_PROXY" \
                  -o Acquire::https::Proxy="$HTTPS_PROXY" \
                  update && \
    retry apt-get install -y --no-install-recommends \
        build-essential \
        cmake \
        git \
        curl \
        wget \
        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/*

# Install conda
ENV CONDA_ALWAYS_YES=1
ENV CONDA_OVERRIDE_CHANNELS=1

RUN set -e; \
    RETRIES=5; \
    until curl -o ~/miniconda.sh -LO https://repo.continuum.io/miniconda/Miniconda3-latest-Linux-x86_64.sh; do \
        RETRIES=$((RETRIES-1)); \
        if [ $RETRIES -le 0 ]; then echo "Failed to download miniconda.sh"; exit 1; fi; \
        echo "Retry downloading miniconda.sh..."; sleep 3; \
    done && \
    bash ~/miniconda.sh -b -p /opt/conda && \
    rm ~/miniconda.sh && \
    /opt/conda/bin/conda clean -ya

ENV PATH="/opt/conda/bin:$PATH"

# Create workdir & copy files
ENV WORKDIR=/workspace/Bench2Drive-VL
WORKDIR ${WORKDIR}

ENV CARLA_ROOT="/home/carla"
ENV SCENARIO_RUNNER_ROOT="${WORKDIR}/scenario_runner"
ENV LEADERBOARD_ROOT="${WORKDIR}/leaderboard"
ENV TEAM_CODE_ROOT="${WORKDIR}/team_code"
ENV ADAPTER_ROOT="${WORKDIR}/B2DVL_Adapter"
ENV VQA_GEN=1
ENV STRICT_MODE=1

COPY . ${WORKDIR}
COPY requirements.txt /tmp/requirements.txt

# Accept ToS + create conda env
RUN conda tos accept --override-channels --channel https://repo.anaconda.com/pkgs/main && \
    conda tos accept --override-channels --channel https://repo.anaconda.com/pkgs/r && \
    (for i in {1..6}; do conda create -n b2dvl python=3.7 numpy networkx scipy six requests -y && break || sleep 5; done)

# requirements.txt
RUN for i in {1..6}; do conda run -n b2dvl pip install -r ${SCENARIO_RUNNER_ROOT}/requirements.txt && break || sleep 5; done && \
    for i in {1..6}; do conda run -n b2dvl pip install -r ${LEADERBOARD_ROOT}/requirements.txt && break || sleep 5; done && \
    for i in {1..6}; do conda run -n b2dvl pip install -r /tmp/requirements.txt && break || sleep 5; done

# PyTorch
RUN for i in {1..6}; do conda run -n b2dvl pip install torch torchvision torchaudio --extra-index-url https://pypi.org/simple && break || sleep 5; done

# activate conda
RUN echo "source /opt/conda/etc/profile.d/conda.sh" >> /etc/bash.bashrc && \
    echo "conda activate b2dvl" >> /etc/bash.bashrc

# Set Python path
ENV PYTHONPATH="${CARLA_ROOT}/PythonAPI:${CARLA_ROOT}/PythonAPI/carla:${CARLA_ROOT}/PythonAPI/carla/dist/carla-0.9.15-py3.7-linux-x86_64.egg:${SCENARIO_RUNNER_ROOT}:${LEADERBOARD_ROOT}:${TEAM_CODE_ROOT}:${ADAPTER_ROOT}:${PYTHONPATH}"

RUN chmod +x ${LEADERBOARD_ROOT}/scripts/run_evaluation.sh

# Additional maps
RUN cd /home/carla/Import && \
    if [ ! -f AdditionalMaps_0.9.15.tar.gz ]; then \
        wget https://carla-releases.s3.us-east-005.backblazeb2.com/Linux/AdditionalMaps_0.9.15.tar.gz; \
    fi && \
    cd .. && \
    bash ImportAssets.sh

# switch back to carla user
USER carla
WORKDIR ${WORKDIR}

CMD ["/bin/bash"]