# Both containers share the host network so ROS 2 DDS discovery works without
# any extra multicast configuration.  Each container is given access only to
# the specific device it needs rather than running in privileged mode.

services:

  robot:
    build:
      context: ./raspbot_v2
      dockerfile: Dockerfile
      platforms:
        - linux/arm64
    image: raspbot_v2:latest
    network_mode: host
    ipc: host
    devices:
      - /dev/i2c-1:/dev/i2c-1
    environment:
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
    # Required for ros2_control to set SCHED_FIFO real-time thread priority.
    # See https://control.ros.org/kilted/doc/ros2_control/controller_manager/doc/userdoc.html#determinism
    cap_add:
      - SYS_NICE
    ulimits:
      rtprio: 99
      memlock: -1
    restart: unless-stopped

  lidar:
    build:
      context: .
      dockerfile: lidar/Dockerfile
      platforms:
        - linux/amd64
        - linux/arm64
    image: raspbot_v2_lidar:latest
    network_mode: host
    ipc: host
    devices:
      - ${LIDAR_PORT:-/dev/ttyUSB0}:${LIDAR_PORT:-/dev/ttyUSB0}
    environment:
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
    command:
      - ros2
      - launch
      - sllidar_ros2
      - sllidar_a1_launch.py
      - serial_port:=${LIDAR_PORT:-/dev/ttyUSB0}
      - frame_id:=${LIDAR_FRAME_ID:-laser}
      - serial_baudrate:=115200
      - angle_compensate:=true
    restart: unless-stopped

  oled:
    build:
      context: .
      dockerfile: oled/Dockerfile
      platforms:
        - linux/arm64
    image: raspbot_v2_oled:latest
    network_mode: host
    ipc: host
    devices:
      - /dev/i2c-1:/dev/i2c-1
    environment:
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
    restart: unless-stopped

  wifi:
    build:
      context: wifi
      dockerfile: Dockerfile
      platforms:
        - linux/arm64
    image: raspbot_v2_wifi:latest
    network_mode: host
    cap_add:
      - NET_ADMIN
    volumes:
      - /run/dbus/system_bus_socket:/run/dbus/system_bus_socket
    environment:
      - WIFI_SSID=${WIFI_SSID:-}
      - HOTSPOT_SSID=${HOTSPOT_SSID:-raspbot-hotspot}
      - HOTSPOT_PASSWORD=${HOTSPOT_PASSWORD:-raspbot1234}
      - HOTSPOT_BAND=${HOTSPOT_BAND:-bg}
      - WIFI_IFACE=${WIFI_IFACE:-}
      - WIFI_TIMEOUT=${WIFI_TIMEOUT:-30}
      - POLL_INTERVAL=${POLL_INTERVAL:-15}
    restart: unless-stopped

  teleop:
    build:
      context: teleop
      dockerfile: Dockerfile
      platforms:
        - linux/amd64
        - linux/arm64
    image: raspbot_v2_teleop:latest
    network_mode: host
    ipc: host
    stdin_open: true
    tty: true
    devices:
      - ${JOYSTICK_DEV:-/dev/input/js0}:/dev/input/js0
      - ${JOYSTICK2_DEV:-/dev/input/js1}:/dev/input/js1
      - ${JOYSTICK_EVENT_DEV:-/dev/input/event0}:/dev/input/event0
    environment:
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
      # Joystick config name — must match a file in teleop_twist_joy/config/ (without .config.yaml).
      # e.g. ps5, ps4, xbox, atk3. Leave unset to use teleop_twist_joy defaults.
      - JOY_CONFIG=${JOY_CONFIG:-}
      # FastDDS profile restricts DDS traffic to a single interface.
      # Override FASTDDS_INTERFACE in .env or on the command line (e.g. eth0, wlan1).
      - FASTDDS_DEFAULT_PROFILES_FILE=/fastdds_wifi.xml
      - FASTDDS_INTERFACE=${FASTDDS_INTERFACE:-wlan0}
    # Not started by default — run explicitly:
    #   keyboard: docker compose run --rm teleop teleop-keyboard
    #   joystick: docker compose run --rm teleop teleop-joystick
    profiles:
      - teleop

  webui:
    build:
      context: webui
      dockerfile: Dockerfile
      platforms:
        - linux/arm64
      args:
        # Hostname of the GStreamer signaling server, baked into the frontend bundle.
        # Override with: VITE_WEBRTC_HOST=raspbot-v2.local
        VITE_WEBRTC_HOST: ${VITE_WEBRTC_HOST:-}
    image: raspbot_v2_webui:latest
    network_mode: host
    ipc: host
    environment:
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
    restart: unless-stopped

  camera_publisher:
    build:
      context: ./camera_publisher
      platforms:
        - linux/amd64
        - linux/arm64
    image: ${REGISTRY:-camera-publisher}:${TAG:-latest}
    restart: unless-stopped
    network_mode: host
    ipc: host
    devices:
      - /dev/video0:/dev/video0
      - /dev/video1:/dev/video1
      - /dev/media0:/dev/media0
    environment:
      VIDEO_DEVICE: /dev/video0
      WIDTH: 640
      HEIGHT: 480
      FPS: 30
      CAMERA_FORMAT: mjpeg
      CAMERA_NAMESPACE: /camera
      FASTDDS_BUILTIN_TRANSPORTS: LARGE_DATA

  webrtc_streamer:
    build:
      context: ./webrtc_streamer
      platforms:
        - linux/amd64
        - linux/arm64
    image: ${REGISTRY:-webrtc-streamer}:${TAG:-latest}
    restart: unless-stopped
    network_mode: host
    ipc: host
    environment:
      IMAGE_TOPIC: /camera/image_raw
      PORT: 8443
      BITRATE: 2000000
      FASTDDS_BUILTIN_TRANSPORTS: LARGE_DATA