version: "3.8"

# Common configuration for all ROS services
x-ros-service: &ros-service
  image: ghcr.io/innate-inc/innate-os:${INNATE_VERSION:-latest}
  restart: unless-stopped
  network_mode: host
  privileged: true
  environment:
    - INNATE_OS_ROOT=/root/innate-os
    - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
    - ROS_DOMAIN_ID=0
    - ROS_DISCOVERY_SERVER=127.0.0.1:11811
    - FASTRTPS_DEFAULT_PROFILES_FILE=/root/innate-os/dds/super_client_configuration.xml
  env_file:
    - .env
  volumes:
    - innate-logs:/root/innate-os/logs
    - innate-maps:/root/innate-os/maps
    - innate-recordings:/root/innate-os/recordings

services:
  # ─────────────────────────────────────────────────────────────────────────────
  # Discovery Server - Must start first, all other services depend on it
  # ─────────────────────────────────────────────────────────────────────────────
  discovery-server:
    <<: *ros-service
    container_name: innate-discovery
    command: >
      bash -c "
        source /opt/ros/humble/setup.bash &&
        echo 'Starting FastDDS Discovery Server on port 11811...' &&
        fastdds discovery -i 0 -p 11811
      "
    healthcheck:
      test: ["CMD", "bash", "-c", "ss -uln | grep -q ':11811' || exit 1"]
      interval: 5s
      timeout: 3s
      retries: 5
      start_period: 10s

  # ─────────────────────────────────────────────────────────────────────────────
  # App + Bringup - Core robot control and hardware bringup
  # ─────────────────────────────────────────────────────────────────────────────
  app-bringup:
    <<: *ros-service
    container_name: innate-app-bringup
    depends_on:
      discovery-server:
        condition: service_healthy
    command: >
      bash -c "
        echo 'Starting App and Bringup nodes...' &&
        ros2 launch maurice_control app.launch.py &
        ros2 launch maurice_bringup maurice_bringup.launch.py &
        wait
      "

  # ─────────────────────────────────────────────────────────────────────────────
  # Arm + Recorder - Arm control and manipulation recording
  # ─────────────────────────────────────────────────────────────────────────────
  arm-recorder:
    <<: *ros-service
    container_name: innate-arm-recorder
    depends_on:
      discovery-server:
        condition: service_healthy
    command: >
      bash -c "
        echo 'Starting Arm and Recorder nodes...' &&
        ros2 launch maurice_arm arm.launch.py &
        ros2 launch manipulation recorder.launch.py &
        wait
      "

  # ─────────────────────────────────────────────────────────────────────────────
  # Brain + Nav - Brain client, calibration, and navigation mode manager
  # ─────────────────────────────────────────────────────────────────────────────
  brain-nav:
    <<: *ros-service
    container_name: innate-brain-nav
    depends_on:
      discovery-server:
        condition: service_healthy
      app-bringup:
        condition: service_started
    command: >
      bash -c "
        echo 'Starting Brain and Nav nodes...' &&
        ros2 launch brain_client brain_client.launch.py &
        sleep 5 &&
        ros2 service call /calibrate std_srvs/srv/Trigger &&
        sleep 5 &&
        ros2 launch maurice_nav mode_manager.launch.py &
        wait
      "

  # ─────────────────────────────────────────────────────────────────────────────
  # Behaviors + Inputs - Behavior server and input manager
  # ─────────────────────────────────────────────────────────────────────────────
  behaviors-inputs:
    <<: *ros-service
    container_name: innate-behaviors-inputs
    depends_on:
      discovery-server:
        condition: service_healthy
    command: >
      bash -c "
        echo 'Starting Behavior and Input nodes...' &&
        ros2 launch manipulation behavior.launch.py &
        ros2 launch brain_client input_manager.launch.py &
        wait
      "

  # ─────────────────────────────────────────────────────────────────────────────
  # Stream - WebRTC streaming and UDP leader receiver
  # ─────────────────────────────────────────────────────────────────────────────
  stream:
    <<: *ros-service
    container_name: innate-stream
    depends_on:
      discovery-server:
        condition: service_healthy
    command: >
      bash -c "
        echo 'Starting Streaming nodes...' &&
        ros2 launch maurice_cam webrtc_streamer.launch.py &
        ros2 launch maurice_control udp_leader_receiver.launch.py &
        wait
      "

  # ─────────────────────────────────────────────────────────────────────────────
  # IK + Logger - Inverse kinematics and telemetry logging
  # ─────────────────────────────────────────────────────────────────────────────
  ik-logger:
    <<: *ros-service
    container_name: innate-ik-logger
    depends_on:
      discovery-server:
        condition: service_healthy
    command: >
      bash -c "
        echo 'Starting IK and Logger nodes...' &&
        ros2 run maurice_arm ik.py &
        ros2 launch innate_logger logger.launch.py &
        wait
      "

volumes:
  innate-logs:
    name: innate-logs
  innate-maps:
    name: innate-maps
  innate-recordings:
    name: innate-recordings