# =============================================================================
# RDC Simulation - Docker Compose (Software Rendering / Stability Mode)
# =============================================================================
# Reverted to Software Rendering (llvmpipe) to guarantee visible GUI.
# - GPU acceleration is notoriously unstable on NVIDIA+Wayland Docker.
# - This config ensures the simulation window works so mission logic can be tested.
# =============================================================================

x-common: &common
  image: rdc-simulation:latest
  build:
    context: .
    dockerfile: Dockerfile

  # GPU Configuration: STRICT NVIDIA (2026 Guide)
  deploy:
    resources:
      reservations:
        devices:
          - driver: nvidia
            count: 1
            capabilities: [ gpu ]

  environment:
    # Display Settings (PURE X11/XCB Bypass)
    &common-env
    - DISPLAY=${DISPLAY:-:0}
    # Removed WAYLAND_DISPLAY to strictly force X11 path
    # - WAYLAND_DISPLAY=${WAYLAND_DISPLAY:-wayland-0} 
    - XDG_RUNTIME_DIR=/tmp

    # Platform: XCB (X11) for stability on Wayland
    - QT_QPA_PLATFORM=xcb
    - QT_X11_NO_MITSHM=1

    # Network: Force Localhost (Fixes "Empty World" black screen)
    - GZ_IP=127.0.0.1
    - GZ_PARTITION=sim_partition

    # NVIDIA DRIVERS: FORCE GPU 0 (The one running kwin_wayland)
    - NVIDIA_VISIBLE_DEVICES=0
    - NVIDIA_DRIVER_CAPABILITIES=all
    # Force NVIDIA EGL/GLX
    - __NV_PRIME_RENDER_OFFLOAD=1
    - __GLX_VENDOR_LIBRARY_NAME=nvidia
    - __EGL_VENDOR_LIBRARY_FILENAMES=/usr/share/glvnd/egl_vendor.d/10_nvidia.json

    # Ogre Fixes
    - OGRE_RTT_MODE=Copy
    # Prevent software fallback
    - LIBGL_ALWAYS_SOFTWARE=0

    # Gazebo/ArduPilot Extensions
    - 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

  # Mounts
  volumes:
    # X11 Socket ONLY (Bypassing Wayland socket)
    - /tmp/.X11-unix:/tmp/.X11-unix:rw
    # Wayland Socket (Removed for strict X11)
    # - ${XDG_RUNTIME_DIR:-/run/user/1000}/${WAYLAND_DISPLAY:-wayland-0}:/tmp/${WAYLAND_DISPLAY:-wayland-0}:rw
    # GPU Access
    - /dev/dri:/dev/dri:rw

  network_mode: host
  user: "1000:1000"
  stdin_open: true
  tty: true
  working_dir: /home/pilot/RDC_Simulation

services:
  # Service 1: Gazebo
  gazebo:
    <<: *common
    container_name: rdc-gazebo
    entrypoint: [ "/bin/bash", "-c" ]
    command:
      - |
        echo "Starting Gazebo (Software Rendering)..."
        source /opt/ros/jazzy/setup.bash
        source ~/.bashrc
        export GZ_SIM_SYSTEM_PLUGIN_PATH=/home/pilot/ardupilot_gazebo/build
        export GZ_SIM_RESOURCE_PATH=/home/pilot/ardupilot_gazebo/models:/home/pilot/ardupilot_gazebo/worlds:/home/pilot/RDC_Simulation/gazebo/models
        cd /home/pilot/RDC_Simulation
        gz sim -r /home/pilot/ardupilot_gazebo/worlds/iris_runway.sdf
    healthcheck:
      test: [ "CMD-SHELL", "pgrep -x gz || exit 1" ]
      interval: 5s
      timeout: 10s
      retries: 30

  # Service 2: SITL
  sitl:
    <<: *common
    container_name: rdc-sitl
    depends_on:
      gazebo:
        condition: service_started
    entrypoint: [ "/bin/bash", "-c" ]
    command:
      - |
        echo "Waiting for Gazebo..."
        for i in {1..60}; do nc -z localhost 9002 2>/dev/null && break; sleep 2; done
        echo "Starting ArduPilot SITL..."
        cd /home/pilot/ardupilot
        sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console --map

  # Service 3: Controller
  controller:
    <<: *common
    container_name: rdc-controller
    depends_on:
      sitl:
        condition: service_started
    entrypoint: [ "/bin/bash", "-c" ]
    command:
      - |
        echo "Waiting for SITL..."
        for i in {1..90}; do nc -z localhost 14550 2>/dev/null && break; sleep 2; done
        sleep 10
        echo "Starting Mission..."
        source /home/pilot/RDC_Simulation/venv/bin/activate
        cd /home/pilot/RDC_Simulation
        python scripts/run_ardupilot.py --pattern square

  # Debug Shell
  simulation:
    <<: *common
    container_name: rdc-sim
    entrypoint: [ "/home/pilot/docker-entrypoint.sh" ]
    command: [ "bash" ]