# =============================================================================
# RDC Simulation - Docker Compose (GPU-enabled, Wayland, Multi-Service)
# =============================================================================
# Runs the complete simulation stack with 3 services:
#   1. gazebo    - Gazebo Harmonic simulation
#   2. sitl      - ArduPilot SITL (ArduCopter)
#   3. controller - Python flight controller
#
# Usage:
#   # Start all services
#   docker compose up
#
#   # Or start individually
#   docker compose up gazebo
#   docker compose up sitl
#   docker compose up controller
#
#   # Interactive shell
#   docker compose run --rm simulation bash
#
#   # Stop everything
#   docker compose down
# =============================================================================

# Common configuration anchor
x-common: &common
  image: rdc-simulation:latest
  build:
    context: .
    dockerfile: Dockerfile

  # GPU support (NVIDIA)
  deploy:
    resources:
      reservations:
        devices:
          - driver: nvidia
            count: all
            capabilities: [ gpu ]

  # Environment variables - use XWayland for OpenGL compatibility
  environment:
    # X11/XWayland display (better for OpenGL in containers)
    &common-env
    - DISPLAY=${DISPLAY:-:0}
    - XDG_RUNTIME_DIR=/run/user/1000
    # GPU
    - NVIDIA_VISIBLE_DEVICES=all
    - NVIDIA_DRIVER_CAPABILITIES=all
    # Force X11/XCB for Qt (more stable for OpenGL than native Wayland)
    - QT_QPA_PLATFORM=xcb
    - QT_X11_NO_MITSHM=1
    # OpenGL settings
    - __GLX_VENDOR_LIBRARY_NAME=nvidia
    - LIBGL_ALWAYS_SOFTWARE=0
    # Gazebo paths
    - GZ_SIM_SYSTEM_PLUGIN_PATH=/home/pilot/ardupilot_gazebo/build
    - GZ_SIM_RESOURCE_PATH=/home/pilot/ardupilot_gazebo/models:/home/pilot/ardupilot_gazebo/worlds:/home/pilot/RDC_Simulation/gazebo/models

  # Mount Wayland and X11 sockets
  volumes:
    # Wayland socket
    - ${XDG_RUNTIME_DIR:-/run/user/1000}/${WAYLAND_DISPLAY:-wayland-0}:/run/user/1000/wayland-0:rw
    # X11 socket (for XWayland fallback)
    - /tmp/.X11-unix:/tmp/.X11-unix:rw
    # GPU device
    - /dev/dri:/dev/dri:rw

  # Network mode for SITL communication (all services share host network)
  network_mode: host

  # Run as user with access to Wayland socket
  user: "1000:1000"

  stdin_open: true
  tty: true
  working_dir: /home/pilot/RDC_Simulation

services:
  # =========================================================================
  # Interactive Shell (for manual control)
  # =========================================================================
  simulation:
    <<: *common
    container_name: rdc-sim
    entrypoint: [ "/home/pilot/docker-entrypoint.sh" ]
    command: [ "bash" ]

  # =========================================================================
  # Service 1: Gazebo Simulation
  # =========================================================================
  gazebo:
    <<: *common
    container_name: rdc-gazebo
    entrypoint: [ "/bin/bash", "-c" ]
    command:
      - |
        source /opt/ros/jazzy/setup.bash
        source ~/.bashrc
        echo "Starting Gazebo Harmonic..."
        echo "Waiting 5 seconds for initialization..."
        sleep 5
        cd /home/pilot/RDC_Simulation
        ./scripts/run_ardupilot_sim.sh runway

  # =========================================================================
  # Service 2: ArduPilot SITL
  # =========================================================================
  sitl:
    <<: *common
    container_name: rdc-sitl
    depends_on:
      gazebo:
        condition: service_started
    entrypoint: [ "/bin/bash", "-c" ]
    command:
      - |
        source /opt/ros/jazzy/setup.bash
        source ~/.bashrc
        echo "Waiting 15 seconds for Gazebo to start..."
        sleep 15
        echo "Starting ArduPilot SITL..."
        cd /home/pilot/ardupilot
        sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console --no-mavproxy

  # =========================================================================
  # Service 3: Flight Controller
  # =========================================================================
  controller:
    <<: *common
    container_name: rdc-controller
    depends_on:
      sitl:
        condition: service_started
    entrypoint: [ "/bin/bash", "-c" ]
    command:
      - |
        source /opt/ros/jazzy/setup.bash
        source ~/.bashrc
        source /home/pilot/RDC_Simulation/venv/bin/activate
        echo "Waiting 30 seconds for SITL to initialize..."
        sleep 30
        echo "Starting flight controller..."
        cd /home/pilot/RDC_Simulation
        python scripts/run_ardupilot.py --pattern square

  # =========================================================================
  # Headless Mode (CI/Server - no display)
  # =========================================================================
  simulation-headless:
    <<: *common
    container_name: rdc-sim-headless
    user: "1000:1000"
    environment:
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=compute,utility
      - HEADLESS=1
      - LIBGL_ALWAYS_SOFTWARE=1
      - GZ_SIM_SYSTEM_PLUGIN_PATH=/home/pilot/ardupilot_gazebo/build
      - GZ_SIM_RESOURCE_PATH=/home/pilot/ardupilot_gazebo/models:/home/pilot/ardupilot_gazebo/worlds:/home/pilot/RDC_Simulation/gazebo/models
    volumes: [] # No display mounts needed
    entrypoint: [ "/home/pilot/docker-entrypoint.sh" ]
    command: [ "bash" ]

  # =========================================================================
  # All-in-One (runs everything in one container)
  # =========================================================================
  all-in-one:
    <<: *common
    container_name: rdc-all
    entrypoint: [ "/bin/bash", "-c" ]
    command:
      - |
        source /opt/ros/jazzy/setup.bash
        source ~/.bashrc
        source /home/pilot/RDC_Simulation/venv/bin/activate
        cd /home/pilot/RDC_Simulation
        echo "Starting all-in-one simulation..."
        ./scripts/run_ardupilot_controller.sh