services:
  gui-tools:
    env_file:
      - .env
    build:
      context: ./guiTools/

    environment:
      # Display settings
      DISPLAY: "${DISPLAY}"
      WAYLAND_DISPLAY: "${WAYLAND_DISPLAY}"
      # Uncomment below if using X11
      # QT_QPA_PLATFORM: "${QT_QPA_PLATFORM:-xcb}"
      XDG_RUNTIME_DIR: "${XDG_RUNTIME_DIR}"
      ROS_MASTER_URI: "http://ros-master:11311"
      RMW_IMPLEMENTATION: rmw_cyclonedds_cpp

    volumes:
      # X11 socket
      - /tmp/.X11-unix:/tmp/.X11-unix
      - ${XAUTHORITY:-~/.Xauthority}:/root/.Xauthority
      # Wayland socket
      #- ${XDG_RUNTIME_DIR}/wayland-0:${XDG_RUNTIME_DIR}/wayland-0
      # Access to GPU devices
      - /dev/dri:/dev/dri
      # Code and configuration
      - ./guiTools/spiri_sdk_guitools/:/app/spiri_sdk_guitools/
      - ./robots:/robots
      - /var/run/docker.sock:/var/run/docker.sock

    devices:
      # Provide access to GPU devices (supports non-NVIDIA GPUs)
      - /dev/dri:/dev/dri

    network_mode: host
    ports:
      - 8923:8923
    ipc: host
    privileged: true # Required for GPU access

    # deploy:
    #   resources:
    #     reservations:
    #       devices:
    #         - driver: cdi  # Optional for advanced resource scheduling
    #           device_ids:
    #             - "all"  # Use "all" for all available GPUs