# Reusable extensions
x-default-hocap-volumes: &default-hocap-volumes
  - type: bind
    source: ${PROJ_ROOT}
    target: /home/${DOCKER_USER_ARG}/code
  - type: bind
    source: /tmp/.X11-unix
    target: /tmp/.X11-unix
  - type: bind
    source: /etc/localtime
    target: /etc/localtime
    read_only: true
  - type: bind
    source: ${PROJ_ROOT}/docker/config/apriltag_ros
    target: /opt/catkin_ws/apriltag_ros/src/apriltag_ros/apriltag_ros/config
  # https://github.com/IntelRealSense/realsense-ros/issues/2964#issuecomment-1878364150
  # - type: bind
  #   source: /dev
  #   target: /dev
  # These volumes follow from this page
  # https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_faq.html#save-isaac-sim-configs-on-local-disk
  # - type: bind
  #   source: ${ISAAC_CACHE_OV}
  #   target: /home/${DOCKER_USER_ARG}/.cache/ov
  # - type: bind
  #   source: ${ISAAC_CACHE_PIP}
  #   target: /home/${DOCKER_USER_ARG}/.cache/pip
  # - type: bind
  #   source: ${ISAAC_CACHE_GL}
  #   target: /home/${DOCKER_USER_ARG}/.cache/nvidia/GLCache
  # - type: bind
  #   source: ${ISAAC_CACHE_COMPUTE}
  #   target: /home/${DOCKER_USER_ARG}/.nv/ComputeCache
  # - type: bind
  #   source: ${ISAAC_LOGS}
  #   target: /home/${DOCKER_USER_ARG}/.nvidia-omniverse/logs
  # - type: bind
  #   source: ${ISAAC_DATA}
  #   target: /home/${DOCKER_USER_ARG}/.local/share/ov/data
  # - type: bind
  #   source: ${ISAAC_DOCS}
  #   target: /home/${DOCKER_USER_ARG}/Documents

x-default-hocap-environment: &default-hocap-environment
  DISPLAY: ${DISPLAY}
  TERM: ${TERM}
  QT_X11_NO_MITSHM: 1

x-default-hocap-deploy: &default-hocap-deploy
  resources:
    reservations:
      devices:
        - driver: nvidia
          count: all
          capabilities: [ gpu ]

services:
  posekit-ros1:
    profiles:
      - ros1
    container_name: posekit-ros1
    image: irvlutd/posekit-ros1:latest
    build:
      context: ..
      dockerfile: docker/Dockerfile.ros1
      args:
        - USER_NAME_ARG=${DOCKER_USER_ARG}
        - USER_UID_ARG=${DOCKER_USER_UID_ARG}
        - USER_GID_ARG=${DOCKER_USER_GID_ARG}
        - TORCH_CUDA_ARCH_LIST_ARG=${TORCH_CUDA_ARCH_LIST_ARG}
        - ROS1_APT_PACKAGE_ARG=${ROS1_APT_PACKAGE_ARG}
        - CATWIN_WS_DIR_ARG=/opt/catkin_ws
    environment: *default-hocap-environment
    volumes: *default-hocap-volumes
    deploy: *default-hocap-deploy
    network_mode: host
    devices:
      - /dev/bus/usb:/dev/bus/usb
      - /dev/snd:/dev/snd
      - /dev # if you prefer to simplify all device mappings
    device_cgroup_rules:
      - 'c 81:* rmw' # All /dev/video*
      - 'c 189:* rmw' # USB buses
      - 'c 239:* rmw' # HID devices (Azure Kinect)
      - 'c 116:* rmw' # ALSA sound devices
    cap_add:
      - SYS_PTRACE
    security_opt:
      - seccomp=unconfined
    privileged: true
    stdin_open: true
    tty: true