version: "3.9"
services:
  # Base image containing dependencies.
  base:
    image: ghcr.io/bjoernellens1/cps_bot_mini_ws/base
    build:
      context: .
      dockerfile: docker/Dockerfile
      tags:
        - ghcr.io/bjoernellens1/cps_bot_mini_ws/base
      args:
        ROS_DISTRO: humble
        UNDERLAY_WS: cps_bot_mini_ws
        OVERLAY_WS: overlay_ws
      target: base
      x-bake:
        platforms:
          - linux/arm64
          - linux/amd64
    # Interactive shell
    stdin_open: true
    tty: true
    # Networking and IPC for ROS 2
    network_mode: host
    ipc: host
    # Needed to display graphical applications
    #privileged: true
    environment:
      # Allows graphical programs in the container.
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      - NVIDIA_DRIVER_CAPABILITIES=all
      - ROS_DOMAIN_ID=5
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    volumes:
      # Allows graphical programs in the container.
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
    restart: unless-stopped
  # Overlay image containing the project specific source code.
  overlay:
    extends: base
    image: ghcr.io/bjoernellens1/cps_bot_mini_ws/overlay
    build:
      context: .
      dockerfile: docker/Dockerfile
      tags:
        - ghcr.io/bjoernellens1/cps_bot_mini_ws/overlay
      target: overlay
      x-bake:
        platforms:
          - linux/arm64
          - linux/amd64
    volumes:
      - .:/repo
      - .docker/entrypoint.sh:/entrypoint.sh
  # Additional dependencies for GUI applications
  guis:
    extends: overlay
    image: ghcr.io/bjoernellens1/cps_bot_mini_ws/guis
    build:
      context: .
      dockerfile: docker/Dockerfile
      tags:
        - ghcr.io/bjoernellens1/cps_bot_mini_ws/guis
      target: guis
      x-bake:
        platforms:
          - linux/arm64
          - linux/amd64
    command: |
      /bin/bash
  # Robot State Publisher
  robot_state_publisher:
    extends: overlay
    command: |
      ros2 launch cps_loki_bringup rsp.launch.py
  # Controller
  controller:
    extends: overlay
    command: |
      ros2 launch cps_loki_bringup robot_controller.launch.py
    privileged: true
    devices:
      - /dev/ttyUSB0:/dev/ttyUSB0
      - /dev/ttyACM0:/dev/ttyACM0
    restart: always
  # teleop
  teleop:
    extends: overlay
    command: |
      ros2 launch cps_loki_bringup robot_joy_teleop.launch.py
    devices:
      - /dev/input:/dev/input
    restart: always
  # scan filter node
  lidar_filter:
    extends: overlay
    command: |
      ros2 launch cps_loki_bringup robot_scan_filter.launch.py
  # lidar
  lidar:
    extends: overlay
    depends_on:
      - lidar_filter
    command: |
      ros2 launch cps_loki_bringup robot_lidar.launch.py
    devices:
      - /dev/ttyUSB0:/dev/ttyUSB0
      - /dev/ttyACM0:/dev/ttyACM0
  # mapping
  mapping:
    extends: overlay
    command: |
      ros2 launch cps_loki_bringup robot_mapper.launch.py
  # navigation
  navigation:
    extends: overlay
    #command: >
    #  ros2 launch cbot_mini_bringup robot_navigation.launch.py
    #  map_subscribe_transient_local:=true
    command: >
      ros2 launch nav2_bringup bringup_launch.py slam:=True map:=/repo/map.yaml
      use_sim_time:=False use_composition:=True
      params_file:=/repo/config/nav2_params.yaml
    depends_on:
      - lidar
      - controller
      - teleop
  # camera
  cam:
    extends: overlay
    command: >
      ros2 launch ffmpeg_image_transport cam.launch.py
    privileged: true
    devices:
      - /dev/dri:/dev/dri

  ###################################################################################################################################
  # Webgui control                                                                                                                  #
  ###################################################################################################################################
  olivetin:
    container_name: olivetin
    image: jamesread/olivetin
    #image: ghcr.io/bjoernellens1/cps_bot_mini_ws/olivetin
    build:
      context: .
      dockerfile: docker/Dockerfile
      tags:
        - ghcr.io/bjoernellens1/cps_bot_mini_ws/olivetin
      target: olivetin
      x-bake:
        platforms:
          #- linux/arm64
          - linux/amd64
    user: root
    privileged: true
    volumes:
      - ./config/olivetin/:/config/ # here is config.yaml and icons located
      - ./config/olivetin/icons:/var/www/olivetin/customIcons
      - .:/repo
      - /var/run/docker.sock:/var/run/docker.sock
      
      # - /var/lib/docker:/var/lib/docker
      - ~/.ssh/id_rsa:/root/.ssh/id_rsa
    networks:
      - caddy_network
    ports:
      - "1337:1337"
    restart: always

  portainer:
    container_name: portainer
    #image: jamesread/olivetin
    image: portainer/portainer-ce:latest
    volumes:
      - ./config/olivetin/:/config/ # here is config.yaml and icons located
      - ./config/olivetin/icons:/var/www/olivetin/customIcons
      - .:/repo
      - /var/run/docker.sock:/var/run/docker.sock
      - portainer_data:/data
      
      # - /var/lib/docker:/var/lib/docker
      - ~/.ssh/id_rsa:/root/.ssh/id_rsa
    ports:
      - "8000:8000"
      - "9443:9443"
    restart: unless-stopped

  ################################################################################################################################
  # This section is mostly for supervision from PC                                                                               #
  ################################################################################################################################

  # Foxglove Studio Bridge
  foxglove_bridge:
    extends: overlay
    command: >
      ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765
    stdin_open: true
    tty: true
    # Networking and IPC for ROS 2
    #network_mode: host
    ipc: host
    environment:
      - ROS_DOMAIN_ID=5
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

  foxglove:
    #image: husarion/foxglove
    image: ghcr.io/foxglove/studio:latest
    restart: always
    depends_on:
      - foxglove_bridge
    networks:
      - caddy_network
    ports:
      - 8080:8080
    volumes:
      - ./config/foxglove/extensions:/src/extensions
      - ./config/foxglove/foxglove-layout.json:/foxglove/default-layout.json

  # rviz2
  rviz2:
    extends: guis
    command: |
      rviz2
    # Needed to display graphical applications
    privileged: true

################################################################################################################################
# Core Services for Web Management                                                                                             #
################################################################################################################################
  caddy:
    image: caddy:latest
    networks:
      - caddy_network
    extra_hosts:
      - "host.docker.internal:host-gateway"
    ports:
      - "80:80"
      - "443:443"
    volumes:
      - ./config/caddy/Caddyfile:/etc/caddy/Caddyfile
      - ./config/caddy/content:/usr/share/caddy/
    restart: always
    depends_on:
      - foxglove
      - olivetin
  roscore:
    image: husarion/ros1-bridge:foxy-0.9.6-20230327-stable
    command: |
      bash -c "source /opt/ros/noetic/setup.bash && roscore"
    network_mode: host
    environment:
      - ROS_DOMAIN_ID=5
    restart: always
  ros1bridge:
    image: husarion/ros1-bridge:foxy-0.9.6-20230327-stable
    command: |
      ros2 run ros1_bridge dynamic_bridge
    network_mode: host
    ipc: host
    environment:
      - ROS_DOMAIN_ID=5
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    restart: always
  webui-joystick:
    image: husarion/webui-ros-joystick:noetic-0.0.1-20230510-stable
    network_mode: host
    # networks:
    #   - caddy_network
    # ports:
    #   - 8000:8000
    ipc: host
    environment:
      - ROS_DOMAIN_ID=5
    restart: always
    depends_on:
      - ros1bridge
    command: roslaunch webui-ros-joystick webui.launch

################################################################################################################################
# Docker related extra stuff                                                                                                   #
################################################################################################################################
networks:
  caddy_network:
    driver: bridge
volumes: 
  portainer_data:
  npm-data:
  npm-letsencrypt: