# =============================================================================
# RDC Simulation - Docker Compose (GPU-enabled)
# =============================================================================
# Runs the simulation with GPU acceleration and X11 display forwarding.
#
# Usage:
#   # Build the container
#   docker compose build
#
#   # Run interactive shell
#   docker compose run --rm simulation
#
#   # Run specific command
#   docker compose run --rm simulation ./scripts/run_ardupilot_sim.sh runway
# =============================================================================

services:
  simulation:
    build:
      context: .
      dockerfile: Dockerfile
    image: rdc-simulation:latest
    container_name: rdc-sim
    
    # GPU support (NVIDIA)
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]
    
    # Display forwarding for Gazebo GUI
    environment:
      - DISPLAY=${DISPLAY:-:0}
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
      - QT_X11_NO_MITSHM=1
    
    # Mount X11 socket for display
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ~/.Xauthority:/home/pilot/.Xauthority:ro
    
    # Network mode for SITL communication
    network_mode: host
    
    # Keep stdin open for interactive use
    stdin_open: true
    tty: true
    
    # Run as current user (optional - for file permission compatibility)
    # user: "${UID:-1000}:${GID:-1000}"
    
    working_dir: /home/pilot/RDC_Simulation

  # Alternative: Run headless (no display, for CI/testing)
  simulation-headless:
    build:
      context: .
      dockerfile: Dockerfile
    image: rdc-simulation:latest
    container_name: rdc-sim-headless
    
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]
    
    environment:
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=compute,utility
      - HEADLESS=1
    
    network_mode: host
    stdin_open: true
    tty: true
    working_dir: /home/pilot/RDC_Simulation