version: '3.3'

networks:
  ros: # backend-api <-> ros-bridge <-> ros-talker 
  api: # backend-api <-> frontend-web

services:
  #################################
  #    ROS side of the project    #
  #################################
  # ROS Bridge server
  ros-bridge:
    image: joaquingimenez1/noetic-rosbridge:1.1.1
    networks:
      - ros
    restart: always
  # ROS node publishing to topic /chatter
  ros-talker:
    image: ros:noetic-ros-core
    environment:
      ROS_MASTER_URI: &ros_master_uri "http://ros-bridge:11311"
      ROS_HOSTNAME: "ros-talker"
    command: stdbuf -o L rostopic pub /chatter std_msgs/String "Hello from ROS!" -r 1
    networks:
      - ros
    depends_on:
      - ros-bridge
    restart: always
  #################################
  #    Web side of the project    #
  #################################
  # Express backend connecting ROS and the UI handling business logic
  backend-api:
    build: ./backend-api
    networks:
      - ros
      - api
    ports:
      - "3001:3001"
    volumes:
      - ./backend-api:/app
    environment:
      ROS_HOST: ros-bridge
      ROS_PORT: 9090
      API_HOST: &api_host backend-api
      API_PORT: &api_port 3001
    depends_on:
      - ros-bridge
  # React frontend able to talk to the backend-api only
  frontend-web:
    build: ./frontend-web
    networks:
      - api
    ports:
      - "3000:3000"
    environment:
      REACT_APP_API_HOST: "localhost"
      REACT_APP_API_PORT: *api_port
    volumes:
      - ./frontend-web:/app
    depends_on:
      - backend-api