version: "3.8"

# Jetson Orin Nano Super — ROS2 Humble SLAM stack
# Run with: docker compose up -d
# Requires: NVIDIA Container Toolkit (JetPack 6) on host

services:

  # ── Core ROS2 + SLAM node ─────────────────────────────────────────────────
  saltybot-ros2:
    image: saltybot/ros2-humble:jetson-orin
    build:
      context: .
      dockerfile: Dockerfile
    container_name: saltybot-ros2
    restart: unless-stopped
    runtime: nvidia
    privileged: false
    network_mode: host
    environment:
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - ROS_DOMAIN_ID=42
      - DISPLAY=${DISPLAY:-:0}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ./ros2_ws/src:/ros2_ws/src:rw
      - /mnt/nvme/saltybot/maps:/maps
      - /mnt/nvme/saltybot:/data:rw
      - ./config:/config:ro
    devices:
      - /dev/rplidar:/dev/rplidar
      - /dev/stm32-bridge:/dev/stm32-bridge
      - /dev/bus/usb:/dev/bus/usb
      - /dev/i2c-7:/dev/i2c-7
      - /dev/video0:/dev/video0
      - /dev/video2:/dev/video2
      - /dev/video4:/dev/video4
      - /dev/video6:/dev/video6
    command: >
      bash -c "
        source /opt/ros/humble/setup.bash &&
        ros2 launch saltybot_bringup slam_rtabmap.launch.py
      "

  # ── RPLIDAR driver node ────────────────────────────────────────────────────
  rplidar:
    image: saltybot/ros2-humble:jetson-orin
    build:
      context: .
      dockerfile: Dockerfile
    container_name: saltybot-rplidar
    restart: unless-stopped
    runtime: nvidia
    network_mode: host
    environment:
      - ROS_DOMAIN_ID=42
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    devices:
      - /dev/rplidar:/dev/rplidar
    command: >
      bash -c "
        source /opt/ros/humble/setup.bash &&
        ros2 launch rplidar_ros rplidar_a1_launch.py
          serial_port:=/dev/rplidar
          frame_id:=laser
      "

  # ── RealSense D435i driver node ────────────────────────────────────────────
  realsense:
    image: saltybot/ros2-humble:jetson-orin
    build:
      context: .
      dockerfile: Dockerfile
    container_name: saltybot-realsense
    restart: unless-stopped
    runtime: nvidia
    network_mode: host
    environment:
      - ROS_DOMAIN_ID=42
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    devices:
      - /dev/bus/usb:/dev/bus/usb
    volumes:
      - /dev:/dev
    command: >
      bash -c "
        source /opt/ros/humble/setup.bash &&
        ros2 launch realsense2_camera rs_launch.py
          enable_color:=true
          enable_depth:=true
          enable_gyro:=true
          enable_accel:=true
          unite_imu_method:=linear_interpolation
          depth_module.profile:=640x480x30
          rgb_camera.profile:=640x480x30
      "

  # ── STM32 bridge node (bidirectional serial<->ROS2) ────────────────────────
  stm32-bridge:
    image: saltybot/ros2-humble:jetson-orin
    build:
      context: .
      dockerfile: Dockerfile
    container_name: saltybot-stm32-bridge
    restart: unless-stopped
    runtime: nvidia
    network_mode: host
    environment:
      - ROS_DOMAIN_ID=42
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    devices:
      - /dev/stm32-bridge:/dev/stm32-bridge
    command: >
      bash -c "
        source /opt/ros/humble/setup.bash &&
        ros2 launch saltybot_bridge bridge.launch.py
          mode:=bidirectional
          serial_port:=/dev/stm32-bridge
      "

  # ── 4x IMX219 CSI cameras ──────────────────────────────────────────────────
  csi-cameras:
    image: saltybot/ros2-humble:jetson-orin
    build:
      context: .
      dockerfile: Dockerfile
    container_name: saltybot-csi-cameras
    restart: unless-stopped
    runtime: nvidia
    network_mode: host
    privileged: true
    environment:
      - ROS_DOMAIN_ID=42
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
    devices:
      - /dev/video0:/dev/video0
      - /dev/video2:/dev/video2
      - /dev/video4:/dev/video4
      - /dev/video6:/dev/video6
    command: >
      bash -c "
        source /opt/ros/humble/setup.bash &&
        ros2 launch saltybot_cameras csi_cameras.launch.py
          width:=640
          height:=480
          fps:=30
      "

  # ── Surround vision — 360 bird's-eye view + Nav2 camera obstacle layer ─────
  saltybot-surround:
    image: saltybot/ros2-humble:jetson-orin
    build:
      context: .
      dockerfile: Dockerfile
    container_name: saltybot-surround
    restart: unless-stopped
    runtime: nvidia
    network_mode: host
    depends_on:
      - csi-cameras
    environment:
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - ROS_DOMAIN_ID=42
    volumes:
      - ./ros2_ws/src:/ros2_ws/src:rw
      - ./config:/config:ro
    command: >
      bash -c "
        source /opt/ros/humble/setup.bash &&
        source /ros2_ws/install/local_setup.bash 2>/dev/null || true &&
        ros2 launch saltybot_surround surround_vision.launch.py
          start_cameras:=false
          camera_height:=0.30
          publish_rate:=5.0
      "

  # ── rosbridge WebSocket server — ws://jetson:9090 ──────────────────────────
  rosbridge:
    image: saltybot/ros2-humble:jetson-orin
    build:
      context: .
      dockerfile: Dockerfile
    container_name: saltybot-rosbridge
    restart: unless-stopped
    runtime: nvidia
    network_mode: host
    depends_on:
      - saltybot-ros2
      - stm32-bridge
      - csi-cameras
    environment:
      - ROS_DOMAIN_ID=42
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    volumes:
      - ./ros2_ws/src:/ros2_ws/src:rw
      - ./config:/config:ro
    command: >
      bash -c "
        source /opt/ros/humble/setup.bash &&
        source /ros2_ws/install/local_setup.bash 2>/dev/null || true &&
        ros2 launch saltybot_bringup rosbridge.launch.py
      "


  # -- Remote e-stop bridge (MQTT over 4G -> STM32 CDC) ----------------------
  # Subscribes to saltybot/estop MQTT topic. {"kill":true} -> 'E\r\n' to STM32.
  # Cellular watchdog: 5s MQTT drop in AUTO mode -> 'F\r\n' (ESTOP_CELLULAR_TIMEOUT).
  remote-estop:
    image: saltybot/ros2-humble:jetson-orin
    build:
      context: .
      dockerfile: Dockerfile
    container_name: saltybot-remote-estop
    restart: unless-stopped
    runtime: nvidia
    network_mode: host
    depends_on:
      - stm32-bridge
    environment:
      - ROS_DOMAIN_ID=42
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    devices:
      - /dev/stm32-bridge:/dev/stm32-bridge
    volumes:
      - ./ros2_ws/src:/ros2_ws/src:rw
      - ./config:/config:ro
    command: >
      bash -c "
        source /opt/ros/humble/setup.bash &&
        source /ros2_ws/install/local_setup.bash 2>/dev/null || true &&
        pip install paho-mqtt --quiet 2>/dev/null || true &&
        ros2 launch saltybot_bridge remote_estop.launch.py
      "

  # ── Nav2 autonomous navigation stack ──────────────────────────────────────
  saltybot-nav2:
    image: saltybot/ros2-humble:jetson-orin
    build:
      context: .
      dockerfile: Dockerfile
    container_name: saltybot-nav2
    restart: unless-stopped
    runtime: nvidia
    network_mode: host
    depends_on:
      - saltybot-ros2
    environment:
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - ROS_DOMAIN_ID=42
    volumes:
      - ./ros2_ws/src:/ros2_ws/src:rw
      - ./config:/config:ro
    command: >
      bash -c "
        source /opt/ros/humble/setup.bash &&
        source /ros2_ws/install/local_setup.bash 2>/dev/null || true &&
        ros2 launch saltybot_bringup nav2.launch.py
      "

  # ── Outdoor navigation — OSM routing + GPS waypoints + geofence ───────────
  # Start only for outdoor missions. Usage:
  #   ros2 param set /osm_router goal_lat 37.7749
  #   ros2 param set /osm_router goal_lon -122.4194
  #   ros2 service call /outdoor/plan_route std_srvs/srv/Trigger '{}'
  #   ros2 service call /outdoor/start_navigation std_srvs/srv/Trigger '{}'
  saltybot-outdoor:
    image: saltybot/ros2-humble:jetson-orin
    build:
      context: .
      dockerfile: Dockerfile
    container_name: saltybot-outdoor
    restart: unless-stopped
    runtime: nvidia
    network_mode: host
    depends_on:
      - saltybot-nav2
    environment:
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - ROS_DOMAIN_ID=42
    volumes:
      - ./ros2_ws/src:/ros2_ws/src:rw
      - ./config:/config:ro
      - /mnt/nvme/saltybot/osm_cache:/data/osm_cache:rw
    devices:
      - /dev/sim7600:/dev/sim7600
    command: >
      bash -c "
        source /opt/ros/humble/setup.bash &&
        source /ros2_ws/install/local_setup.bash 2>/dev/null || true &&
        ros2 launch saltybot_outdoor outdoor_nav.launch.py
          use_rtk:=false
          fence_active:=true
      "

volumes:
  saltybot-maps:
    driver: local