networks:

  # create a local network
  app_net:
    driver: bridge
    ipam:
      config:
        - subnet: "172.16.238.0/24"

volumes:
    # remembers qgroundcontrol config
    qgroundcontrol_config:
    # remembers ignition config, downloaded models etc
    ignition_config:

services:

  # gazebo ignition (simulator)
  sim:
    container_name: sim
    hostname: sim
    image: jgoppert/auav_f22_sim:latest
    command: terminator --geometry=800x500+800+0 -e ". /opt/ros/foxy/setup.sh && colcon build --symlink-install --event-handler console_direct+ && . ./install/setup.sh && ros2 launch auav_f22_gazebo sample.launch.py; read -p 'press enter'"
    build:
      context: sim
    environment:
      - DISPLAY=${DISPLAY}
      - IGN_GAZEBO_SYSTEM_PLUGIN_PATH=/usr/lib
      - IGN_GAZEBO_RESOURCE_PATH=/usr/share/mavlink_sitl_ign_gazebo/models
      # PURT, lat, lon, alt
      - PX4_HOME_LAT=40.41537099446224
      - PX4_HOME_LON=-86.93289541090424
      - PX4_HOME_ALT=185
      # simulation speed, increase to run faster than real time
      - PX4_SIM_SPEED_FACTOR=1.0
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:ro
      - ignition_config:/home/docker/.ignition
      - $PWD/sim/ws:/workdir:rw
    privileged: true
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: 1
              capabilities: [gpu]
    networks:
      app_net:
        ipv4_address: 172.16.238.2

  # ground control station
  gcs:
    container_name: gcs
    hostname: gcs
    image: jgoppert/auav_f22_gcs:latest
    # run qgc hiding output
    command: bash -c "./QGroundControl.AppImage 2> /dev/null"
    build:
      context: gcs
    privileged: true
    environment:
      - DISPLAY=${DISPLAY}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:ro
      # create a persistant named volume to remember qgc settings
      - qgroundcontrol_config:/home/docker/.config/QGroundControl.org
    networks:
      app_net:
        ipv4_address: 172.16.238.3

  # px4 (autopilot)
  px4:
    container_name: px4
    hostname: px4
    image: jgoppert/auav_f22_px4:latest
    command: terminator --geometry=800x500+0+500 -e "px4_build.sh && px4_start.sh; read -p 'press enter to close'"
    build:
      context: .
      dockerfile: px4/Dockerfile
    environment:
      - PX4_SIM_HOSTNAME=sim
      - PX4_OFFBOARD_HOSTNAME=172.16.238.12
      - PX4_GCS_HOSTNAME= 172.16.238.3
      - DISPLAY=${DISPLAY}
      - PX4_SIM_MODEL=iris
    volumes:
      # pass through for X11
      - /tmp/.X11-unix:/tmp/.X11-unix:ro
      # mount .git readwrite for development
      - ./.git:/home/docker/.git:rw
      # mount source readwrite for development
      - ./px4/PX4-Autopilot:/home/docker/px4/PX4-Autopilot:rw
      # mount scripts directory read only for development
      - ./px4/bin:/home/docker/bin:ro
    networks:
      app_net:
        ipv4_address: 172.16.238.11

  # onboard computer
  onboard:
    container_name: onboard
    hostname: onboard
    image: jgoppert/auav_f22_onboard:latest
    #command: bash -c ". ~/ws/install/setup.sh && ros2 launch auav_f22 sample.launch.py"
    command: terminator --geometry=800x500+0+0 -e ". ~/px4_ros_com_ros2/install/setup.sh && colcon build --symlink-install --event-handler console_direct+ && . ./install/setup.sh && ros2 launch auav_f22 sample.launch.py; read -p 'press enter'"
    build:
      context: onboard
    environment:
      - DISPLAY=${DISPLAY}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:ro
      - $PWD/onboard/ws:/home/docker/ws:rw
    networks:
      app_net:
        ipv4_address: 172.16.238.12

  # grader
  grader:
    profiles:
        - donotstart
    container_name: grader
    hostname: grader
    image: jgoppert/auav_f22_grader:latest
    #command: bash -c ". ~/ws/install/setup.sh && ros2 launch auav_f22 sample.launch.py"
    command: terminator --geometry=800x500+0+0 -e ". ~/px4_ros_com_ros2/install/setup.sh && colcon build --symlink-install --event-handler console_direct+ && . ./install/setup.sh && ros2 launch auav_f22_grader grade.launch.py; read -p 'press enter'"
    build:
      context: grader
    environment:
      - DISPLAY=${DISPLAY}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:ro
      - $PWD/grader/ws:/home/docker/ws:rw
    networks:
      app_net:
        ipv4_address: 172.16.238.13


#  vim: set et fenc=utf-8 ff=unix sts=2 sw=2 ts=4 :