version: "3.8"

services:

  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"
    
  mavros:
    #This service bridges our mavlink-based robot-coprosessor into ROS
    #In this example it connects to a simulated coprocessor.
    image: git.spirirobotics.com/spiri/services-ros1-mavros:master
    command: roslaunch mavros px4.launch fcu_url:="udp://:14555@mavproxy:14550"
    environment:
      - "ROS_MASTER_URI=http://ros-master:11311"
    depends_on:
      ros-master:
        condition: service_healthy
      mavproxy:
        condition: service_started
    restart: always
    deploy:
      resources:
        limits:
          # cpus: '0.01'
          memory: 200M
    ulimits:
      nofile:
        soft: 1024
        hard: 524288

  ros-master:
    image: git.spirirobotics.com/spiri/services-ros1-core:main
    command: stdbuf -o L roscore
    environment:
      - "ROS_MASTER_URI=http://ros-master:11311"
    restart: always
    ports:
      - "0.0.0.0:11311:11311"
    deploy:
      resources:
        limits:
          memory: 1G
    # Madness, setting a low ulimit here fixes memory leaks
    # https://answers.ros.org/question/336963/rosout-high-memory-usage/
    ulimits:
      nofile:
        soft: 1024
        hard: 524288