refactor: move firmware workspace under firmware

firmware/tools/sitl/Dockerfile

@@ -0,0 +1,43 @@
+# syntax=docker/dockerfile:1.7
+
+FROM rust@sha256:3914072ca0c3b8aad871db9169a651ccfce30cf58303e5d6f2db16d1d8a7e58f AS sitl-build
+WORKDIR /opt/kaptan
+COPY . .
+# Select the pinned host compiler explicitly rather than inheriting the
+# repository's embedded-target toolchain components. `--locked` makes the
+# resolved source graph an explicit reviewable input to the image build.
+RUN cargo +1.90.0 build --locked --release --package kaptan-sitl
+
+# Gazebo Jetty's supported amd64 runtime. The image is intentionally split so
+# the C++ plugin and host control process share no source-time build hack.
+FROM ubuntu@sha256:561618e2c15bf2397621dd04f96926663a3b5616c189cf7e38db7e82f5c538ea AS gazebo-runtime
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update \
+    && apt-get install --no-install-recommends -y ca-certificates curl gnupg \
+    && curl --fail --location --silent --show-error \
+       https://packages.osrfoundation.org/gazebo.gpg \
+       --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
+    && echo "deb [arch=amd64 signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] https://packages.osrfoundation.org/gazebo/ubuntu-stable noble main" \
+       > /etc/apt/sources.list.d/gazebo-stable.list \
+    && apt-get update \
+    && apt-get install --no-install-recommends -y gz-sim10-cli \
+    && rm -rf /var/lib/apt/lists/*
+
+FROM gazebo-runtime AS gazebo-build
+RUN apt-get update \
+    && apt-get install --no-install-recommends -y cmake g++ ninja-build pkg-config libgz-sim10-dev \
+    && rm -rf /var/lib/apt/lists/*
+COPY tools/sitl /opt/kaptan/sitl
+RUN cmake -G Ninja -S /opt/kaptan/sitl -B /opt/kaptan/sitl/plugin/build \
+    && cmake --build /opt/kaptan/sitl/plugin/build --parallel
+
+FROM gazebo-runtime
+ENV HOME=/tmp \
+    GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/kaptan/sitl/plugin/build \
+    GZ_SIM_RESOURCE_PATH=/opt/kaptan/sitl/worlds
+COPY tools/sitl /opt/kaptan/sitl
+COPY --from=gazebo-build /opt/kaptan/sitl/plugin/build/libkaptan_sitl_quad.so \
+     /opt/kaptan/sitl/plugin/build/libkaptan_sitl_quad.so
+COPY --from=sitl-build /opt/kaptan/target/release/kaptan-sitl /usr/local/bin/kaptan-sitl
+RUN chmod 0555 /opt/kaptan/sitl/gazebo-entrypoint.sh /opt/kaptan/sitl/kaptan-sim /usr/local/bin/kaptan-sitl