# =============================================================================
# RDC Simulation - Docker Compose (Multi-Service with Proper Ordering)
# =============================================================================
# Runs 3 services in order:
#   1. gazebo    - Gazebo Harmonic simulation (starts first)
#   2. sitl      - ArduPilot SITL (waits for Gazebo)
#   3. controller - Python flight controller (waits for SITL)
#
# Usage:
#   # Start all 3 services
#   docker compose up
#
#   # Or start specific services
#   docker compose up gazebo
#   docker compose up gazebo sitl
#   docker compose up gazebo sitl controller
#
#   # Interactive shell (for debugging)
#   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 - Wayland with GPU
  environment:
    # Wayland display
    &common-env
    - WAYLAND_DISPLAY=${WAYLAND_DISPLAY:-wayland-0}
    - XDG_RUNTIME_DIR=/run/user/1000
    # X11 fallback
    - DISPLAY=${DISPLAY:-:0}
    # GPU
    - NVIDIA_VISIBLE_DEVICES=all
    - NVIDIA_DRIVER_CAPABILITIES=all
    # Qt platform - Wayland
    - QT_QPA_PLATFORM=wayland
    - QT_WAYLAND_DISABLE_WINDOWDECORATION=1
    # OpenGL settings
    - __GLX_VENDOR_LIBRARY_NAME=nvidia
    - __NV_PRIME_RENDER_OFFLOAD=1
    # 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:
    - ${XDG_RUNTIME_DIR:-/run/user/1000}/${WAYLAND_DISPLAY:-wayland-0}:/run/user/1000/wayland-0:rw
    - /tmp/.X11-unix:/tmp/.X11-unix:rw
    - /dev/dri:/dev/dri:rw

  # Host network for SITL <-> Gazebo communication
  network_mode: host

  # Run as user 1000
  user: "1000:1000"

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

services:
  # =========================================================================
  # SERVICE 1: Gazebo Simulation (must start first)
  # =========================================================================
  gazebo:
    <<: *common
    container_name: rdc-gazebo
    entrypoint: [ "/bin/bash", "-c" ]
    command:
      - |
        echo "=========================================="
        echo "  SERVICE 1: Starting Gazebo Harmonic"
        echo "=========================================="
        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
        echo "Launching Gazebo world: iris_runway"
        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
      start_period: 30s

  # =========================================================================
  # SERVICE 2: ArduPilot SITL (waits for Gazebo)
  # =========================================================================
  sitl:
    <<: *common
    container_name: rdc-sitl
    depends_on:
      gazebo:
        condition: service_started
    entrypoint: [ "/bin/bash", "-c" ]
    command:
      - |
        echo "=========================================="
        echo "  SERVICE 2: Starting ArduPilot SITL"
        echo "=========================================="
        source /opt/ros/jazzy/setup.bash
        source ~/.bashrc
        source ~/.profile 2>/dev/null || true

        # Wait for Gazebo to be ready (check if port 9002 is listening)
        echo "Waiting for Gazebo to be ready..."
        for i in {1..60}; do
          if nc -z localhost 9002 2>/dev/null; then
            echo "Gazebo is ready!"
            break
          fi
          echo "Waiting... ($$i/60)"
          sleep 2
        done

        echo "Starting ArduCopter SITL..."
        cd /home/pilot/ardupilot
        sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console --map

  # =========================================================================
  # SERVICE 3: Flight Controller (waits for SITL)
  # =========================================================================
  controller:
    <<: *common
    container_name: rdc-controller
    depends_on:
      sitl:
        condition: service_started
    entrypoint: [ "/bin/bash", "-c" ]
    command:
      - |
        echo "=========================================="
        echo "  SERVICE 3: Starting Flight Controller"
        echo "=========================================="
        source /opt/ros/jazzy/setup.bash
        source ~/.bashrc
        source /home/pilot/RDC_Simulation/venv/bin/activate

        # Wait for SITL to be ready (check MAVLink port 14550)
        echo "Waiting for ArduPilot SITL to be ready..."
        for i in {1..90}; do
          if nc -z localhost 14550 2>/dev/null; then
            echo "SITL is ready!"
            break
          fi
          echo "Waiting... ($$i/90)"
          sleep 2
        done

        # Additional wait for SITL to fully initialize
        echo "Waiting 10 more seconds for SITL to stabilize..."
        sleep 10

        echo "Starting flight controller with square pattern..."
        cd /home/pilot/RDC_Simulation
        python scripts/run_ardupilot.py --pattern square

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

  # =========================================================================
  # Headless Mode (CI/Server - no display)
  # =========================================================================
  simulation-headless:
    <<: *common
    container_name: rdc-sim-headless
    profiles: [ "headless" ]
    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: []
    entrypoint: [ "/home/pilot/docker-entrypoint.sh" ]
    command: [ "bash" ]