version: "3.8"


services:
  mavros:
    image: git.spirirobotics.com/spiri/services-ros1-mavros:master
    command: roslaunch mavros px4.launch fcu_url:="udp://:${MAVROS_SIM_FCU_PORT}@127.0.0.1:${MAVROS_SIM_GCS_PORT:-14557}" tgt_system:=${DRONE_SYS_ID:-1}
    environment:
      - "ROS_MASTER_URI=http://ros-master:${ROS_MASTER_PORT:-11311}"
    depends_on:
      ros-master:
        condition: service_healthy
    restart: always
    deploy:
      resources:
        limits:
          memory: 200M
    ulimits:
      nofile:
        soft: 1024
        hard: 524288
    ports:
      - "${MAVROS_SIM_FCU_PORT:-14540}:${MAVROS_SIM_FCU_PORT:-14540}/udp"
      - "${MAVROS_SIM_GCS_PORT:-14557}:${MAVROS_SIM_GCS_PORT:-14557}/udp"

  ros-master:
    image: git.spirirobotics.com/spiri/services-ros1-core:main
    command: stdbuf -o L roscore --port ${ROS_MASTER_PORT:-11311}
    environment:
      - "ROS_MASTER_URI=http://ros-master:${ROS_MASTER_PORT:-11311}"
    restart: always
    ports:
      - "127.0.0.1:${ROS_MASTER_PORT:-11311}:${ROS_MASTER_PORT:-11311}"
    deploy:
      resources:
        limits:
          memory: 1G
    ulimits:
      nofile:
        soft: 1024
        hard: 524288

  # gscam:
  #   image: git.spirirobotics.com/spiri/services-ros1-gscam_all_in_one:main
  #   runtime: nvidia
  #   environment:
  #     ROS_MASTER_URI: http://localhost:11311
  #     ROS_LOG_LEVEL: DEBUG
  #     PORT_GSCAM_CONFIG: >
  #       nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12, framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=0 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR                
  #     STARBOARD_GSCAM_CONFIG: >
  #       nvarguscamerasrc sensor-id=1 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12, framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=0 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR                
  #   volumes:
  #     - /tmp/argus_socket:/tmp/argus_socket
  #
  # udp-stream:
  #   image: git.spirirobotics.com/spiri/services-ros1-gscam_all_in_one:main
  #   privileged: true
  #   runtime: nvidia
  #   network_mode: host
  #   environment:
  #     DISPLAY: ":0"
  #   volumes:
  #     - /tmp/argus_socket:/tmp/argus_socket
  #     - /tmp/.X11-unix:/tmp/.X11-unix
  #     - /var/run/xauth/:/var/run/xauth/
  #   command: >
  #     gst-launch-1.0
  #     nvarguscamerasrc sensor-id=0
  #     ! 'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12, framerate=(fraction)60/1'
  #     ! tee name=raw
  #     raw. ! queue
  #       ! nvegltransform ! nveglglessink sync=false async=false
  #     raw. ! queue
  #       ! videorate max-rate=30 drop-only=true
  #       ! queue max-size-buffers=3 leaky=downstream 
  #       ! nvv4l2h265enc 
  #         bitrate=2000000
  #         iframeinterval=300
  #         vbv-size=33333
  #         insert-sps-pps=true
  #         control-rate=constant_bitrate
  #         profile=Main
  #         num-B-Frames=0
  #         ratecontrol-enable=true
  #         preset-level=UltraFastPreset
  #         EnableTwopassCBR=false
  #         maxperf-enable=true
  #       ! rtph265pay name=pay0 pt=96 config-interval=-1 mtu=1400
  #       ! udpsink host=192.168.1.100 auto-multicast=false port=5600 sync=false async=false           
  #
  # mavproxy:
  #   image: git.spirirobotics.com/spiri/services-mavproxy:main
  #   command: >
  #     mavproxy.py --non-interactive
  #     --out=udpin:0.0.0.0:14551
  #     --out=udpin:0.0.0.0:14550
  #     --out=tcpin:0.0.0.0:5760
  #     --master=/dev/ttyTHS2 --baudrate 921600
  #   restart: always
  #   devices:
  #     - "/dev/ttyTHS2:/dev/ttyTHS2"
  #   ports:
  #     - "14550:14550/udp"
  #     - "5760:5760/tcp"
  #
  #