version: '3.8'

services:

  gui-tools:
    build:
      context: ./guiTools/

    environment:
      # Display settings
      - DISPLAY=${DISPLAY}
      - WAYLAND_DISPLAY=${WAYLAND_DISPLAY}
      # - QT_QPA_PLATFORM=${QT_QPA_PLATFORM:-xcb}  # Default to X11
      # If running with Wayland
      - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}
      - ROS_MASTER_URI=http://ros-master:11311
    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
      # Allow access to the host's GPU
      - /dev/dri:/dev/dri
    devices:
      # Provide access to GPU devices
      - /dev/dri:/dev/dri
    # network_mode: host
    ipc: host
    #user: "${UID}:${GID}"
    privileged: true  # Allow privileged access if necessary (e.g., for GPU access)
    # restart: unless-stopped
    # command: /bin/bash -c "source /opt/ros/foxy/setup.bash && rvis2"  # Replace with the actual command to run Gazebo Ignition
    profiles: [ui,]
    deploy:
      resources:
        reservations:
          devices:
           - driver: cdi
             device_ids:
                - nvidia.com/gpu=all


  ardupilot:
    image: git.spirirobotics.com/spiri/ardupilot:spiri-master
    command: >
      ./Tools/autotest/sim_vehicle.py -v copter --no-rebuild
      --out=udpin:0.0.0.0:5000
      --enable-dds
    stdin_open: true
    tty: true

  mavproxy:
    image: git.spirirobotics.com/spiri/services-mavproxy:main
    command: >
      mavproxy.py --non-interactive
      --out=tcpin:0.0.0.0:5760
      --master=udpout:ardupilot:5000
    restart: always
    ports:
      - 5760:5760

  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" tgt_system:="1"
    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://localhost:11311"
    restart: always
    ports:
      - "127.0.0.1:11311:11311"
    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