# CARLA 0.10 (UE5) + Autoware. Run through scripts/up.sh, which passes
# versions.env as the env file; every ${VAR} below is pinned there.
#
# Services:
#   carla      - simulator server on localhost:2000
#   bridge     - autoware_carla_interface (0.10 preset), healthy once the ego exists
#   autoware   - e2e_simulator with simulator_type:=carla, bridge launched separately
#   spectator  - optional chase camera (profile "spectator")
#
# docker/compose.headless.yaml runs CARLA without a renderer or GPU (-nullrhi);
# see that file for what still works.
#
# All services use host networking: the bridge reaches CARLA on localhost and
# DDS discovery between bridge and Autoware needs a shared network namespace.

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

x-bridge-image: &bridge-image
  image: ${BRIDGE_IMAGE:?run via scripts/up.sh}
  build:
    context: ..
    dockerfile: docker/bridge.Dockerfile
    args:
      AUTOWARE_IMAGE: ${AUTOWARE_IMAGE}
      AUTOWARE_UNIVERSE_URL: ${AUTOWARE_UNIVERSE_URL}
      AUTOWARE_UNIVERSE_REF: ${AUTOWARE_UNIVERSE_REF}

x-ros-env: &ros-env
  HOST_UID: ${HOST_UID:-1000}
  HOST_GID: ${HOST_GID:-1000}
  ROS_DOMAIN_ID: ${ROS_DOMAIN_ID:-0}

services:
  carla:
    <<: *gpu
    image: ${CARLA_IMAGE}
    network_mode: host
    environment:
      DISPLAY: ${DISPLAY:-}
      SDL_AUDIODRIVER: dummy
      NVIDIA_DRIVER_CAPABILITIES: all
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
    command:
      - bash
      - CarlaUnreal.sh
      - -nosound
      - -quality-level=${CARLA_QUALITY:-Low}
      - ${CARLA_RENDER_FLAG:--RenderOffScreen}
    healthcheck:
      test: ["CMD-SHELL", "bash -c '</dev/tcp/localhost/2000'"]
      interval: 5s
      timeout: 5s
      retries: 30
      start_period: 60s

  bridge:
    <<: *bridge-image
    network_mode: host
    cap_add: [NET_ADMIN]  # base entrypoint applies DDS network tuning
    depends_on:
      carla:
        condition: service_healthy
    environment:
      <<: *ros-env
    volumes:
      - ${AUTOWARE_DATA:-${HOME}/autoware_data}:/home/aw/autoware_data:ro
    command:
      - ros2
      - launch
      - carla_autoware_ue5
      - bridge.launch.xml
      - map_path:=/home/aw/autoware_data/maps/autoware_maps/${CARLA_WORLD}
      - vehicle_type:=${EGO_VEHICLE}
      - no_rendering_mode:=${CARLA_NO_RENDERING:-false}
      - spawn_point:=${SPAWN_POINT:-None}
    # A fresh client sees no actors until it has received a tick, hence wait_for_tick.
    healthcheck:
      test:
        - CMD-SHELL
        - >-
          python3 -c "import sys, carla;
          c = carla.Client('localhost', 2000); c.set_timeout(5.0);
          w = c.get_world(); w.wait_for_tick(5.0);
          sys.exit(0 if any(a.attributes.get('role_name') == 'ego_vehicle'
          for a in w.get_actors().filter('vehicle.*')) else 1)"
      interval: 10s
      timeout: 10s
      retries: 30
      start_period: 60s

  autoware:
    <<: [*gpu, *bridge-image]
    network_mode: host
    privileged: true
    depends_on:
      bridge:
        condition: service_healthy
    environment:
      <<: *ros-env
      DISPLAY: ${DISPLAY:-}
      QT_X11_NO_MITSHM: "1"
      NVIDIA_DRIVER_CAPABILITIES: all
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ${AUTOWARE_DATA:-${HOME}/autoware_data}:/home/aw/autoware_data
    command:
      - ros2
      - launch
      - autoware_launch
      - e2e_simulator.launch.xml
      - vehicle_model:=sample_vehicle
      - sensor_model:=carla_sensor_kit
      - simulator_type:=carla
      - launch_simulator_interface:=false
      - map_path:=/home/aw/autoware_data/maps/autoware_maps/${CARLA_WORLD}
      - data_path:=/home/aw/autoware_data/ml_models

  spectator:
    <<: *bridge-image
    profiles: [spectator]
    network_mode: host
    cap_add: [NET_ADMIN]
    restart: on-failure:5
    depends_on:
      bridge:
        condition: service_healthy
    environment:
      <<: *ros-env
    command: [ros2, run, autoware_carla_interface, spectator_follow, --role, ego_vehicle]