set -euo pipefail
export DOCKER_BUILDKIT=0

HOST_OPEN3D_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")"/.. >/dev/null 2>&1 && pwd)"

# Shared variables
CCACHE_VERSION=4.3
CMAKE_VERSION=cmake-3.20.6-linux-aarch64

print_env() {
    echo "[openblas_print_env()] DOCKER_TAG: ${DOCKER_TAG}"
    echo "[openblas_print_env()] BASE_IMAGE: ${BASE_IMAGE}"
    echo "[openblas_print_env()] CONDA_SUFFIX: ${CONDA_SUFFIX}"
    echo "[openblas_print_env()] CMAKE_VERSION: ${CMAKE_VERSION}"
    echo "[openblas_print_env()] PYTHON_VERSION: ${PYTHON_VERSION}"
    echo "[openblas_print_env()] DEVELOPER_BUILD: ${DEVELOPER_BUILD}"
}

export_env() {
    export DOCKER_TAG=open3d-cuda:focal
    export BASE_IMAGE=nvcr.io/nvidia/l4t-base:r35.1.0
    export DEVELOPER_BUILD=OFF
    export CCACHE_TAR_NAME=open3d-cuda-focal
    export PYTHON_VERSION=3.10
    export BUILD_SHARED_LIBS=ON
    export BUILD_CUDA_MODULE=ON
    export BUILD_TENSORFLOW_OPS=OFF
    export BUILD_PYTORCH_OPS=OFF
    export PACKAGE=ON
    export CONDA_SUFFIX=aarch64
}

build() {
    pushd "${HOST_OPEN3D_ROOT}"
    docker build \
        --progress plain \
        --build-arg BASE_IMAGE="${BASE_IMAGE}" \
        --build-arg CONDA_SUFFIX="${CONDA_SUFFIX}" \
        --build-arg CMAKE_VERSION="${CMAKE_VERSION}" \
        --build-arg PYTHON_VERSION="${PYTHON_VERSION}" \
        --build-arg DEVELOPER_BUILD="${DEVELOPER_BUILD}" \
        -t "${DOCKER_TAG}" \
        -f docker/Dockerfile.openblas .
    popd
        # https://forums.developer.nvidia.com/t/nvidia-docker-issue-with-privileged/212409/5
    docker run --runtime nvidia --gpus all -v "${PWD}:/opt/mount" --rm "${DOCKER_TAG}" \
        bash -c "cp /*.whl /opt/mount \
              && chown $(id -u):$(id -g) /opt/mount/*.whl"
}

echo 'exporting environment'
export_env
print_env
echo 'starting build'
build