version: '3.8'

services:
  ros2-unity:
    build:
      context: ..
      dockerfile: docker/Dockerfile
    container_name: unity-ros2-system
    hostname: ros2-unity
    
    # 网络配置
    ports:
      - "9090:9090"    # Rosbridge WebSocket端口
      - "10000:10000"  # ROS-TCP-Endpoint主端口
      - "10001:10001"  # 备用端口1
      - "10002:10002"  # 备用端口2
      - "11311:11311"  # ROS Master端口 (如果需要ROS1桥接)
    
    # 环境变量
    environment:
      - ROS_DOMAIN_ID=0
      - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
      - ROS_LOCALHOST_ONLY=0
      - PYTHONUNBUFFERED=1
      - DISPLAY=${DISPLAY:-:0}
    
    # 卷挂载
    volumes:
      - ../ros2-workspace:/ros2_ws_host:rw  # 主机工作空间源码
      - ../configs:/ros2_ws/configs:ro
      - ../logs:/ros2_ws/logs:rw
      - /tmp/.X11-unix:/tmp/.X11-unix:rw  # X11转发 (Linux GUI支持)

    # 网络模式
    network_mode: bridge

    # 重启策略
    restart: unless-stopped
    
    # 健康检查
    healthcheck:
      test: ["CMD", "/bin/bash", "-c", "source /opt/ros/jazzy/setup.bash && ros2 node list"]
      interval: 30s
      timeout: 10s
      retries: 3
      start_period: 40s
    
    # 资源限制
    deploy:
      resources:
        limits:
          memory: 4G
          cpus: '2.0'
        reservations:
          memory: 2G
          cpus: '1.0'
    
    # 交互式终端
    stdin_open: true
    tty: true
    
    # 启动命令
    command: >
      bash -c "
        source /opt/ros/jazzy/setup.bash &&
        if [ -f /ros2_ws/install/setup.bash ]; then source /ros2_ws/install/setup.bash; fi &&
        echo '启动ROS2 Unity系统...' &&
        ros2 run ros_tcp_endpoint default_server_endpoint --ros-args -p ROS_IP:=0.0.0.0 -p ROS_TCP_PORT:=10000
      "

  # 可选：ROS2监控服务
  ros2-monitor:
    build:
      context: ..
      dockerfile: docker/Dockerfile
    container_name: ros2-monitor
    depends_on:
      - ros2-unity
    
    environment:
      - ROS_DOMAIN_ID=0
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    
    volumes:
      - ../logs:/ros2_ws/logs:rw
    
    command: >
      bash -c "
        echo '启动ROS2监控服务...'
        sleep 10
        while true; do
          echo '=== ROS2 系统状态 ==='
          echo '节点列表:'
          ros2 node list || echo '无活动节点'
          echo '话题列表:'
          ros2 topic list || echo '无活动话题'
          echo '服务列表:'
          ros2 service list || echo '无活动服务'
          echo '========================'
          sleep 30
        done
      "
    
    profiles:
      - monitoring

networks:
  default:
    driver: bridge
    ipam:
      config:
        - subnet: 172.20.0.0/16