version: "3.8"

services:
  gui-tools:
    env_file:
      - .env
    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
      # - NVIDIA_DRIVER_CAPABILITIES=compute,video,utility
      # - NVIDIA_VISIBLE_DEVICES=all
    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
      #Auto reload on code changes
      - ./guiTools/spiri_sdk_guitools/:/app/spiri_sdk_guitools/
      # Enable launching the SDK from the SDK
      # - ./:/app/sdk
      - ./robots:/robots
      - /var/run/docker.sock:/var/run/docker.sock
    devices:
      # Provide access to GPU devices
      - /dev/dri:/dev/dri
    network_mode: host
    ports:
      - 8923:8923
    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
    deploy:
      resources:
        reservations:
          devices:
            - driver: cdi
              device_ids:
                - nvidia.com/gpu=all