unity2moveit2/configs/docker/docker-compose.yml

version: '3.8'

# Unity-MoveIt2 系统 Docker Compose 配置
# 此文件定义了完整系统的容器化部署

services:
  # ROS2 TCP Bridge 服务
  ros2-bridge:
    build:
      context: ../../ros2-workspace
      dockerfile: Dockerfile
      args:
        ROS_DISTRO: humble
        UBUNTU_VERSION: 22.04
    container_name: unity-ros2-bridge
    hostname: ros2-bridge
    
    # 网络配置
    ports:
      - "10000:10000"  # Unity TCP连接端口
      - "11311:11311"  # ROS Master端口（如果需要ROS1兼容）
    
    # 环境变量
    environment:
      - ROS_DOMAIN_ID=42
      - RMW_IMPLEMENTATION=rmw_cyclonedx_cpp
      - PYTHONUNBUFFERED=1
      - DISPLAY=${DISPLAY:-:0}
      - QT_X11_NO_MITSHM=1
    
    # 卷挂载
    volumes:
      - ../robots:/workspace/robots:ro
      - ../ros2:/workspace/config:ro
      - ../../logs:/workspace/logs
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ~/.Xauthority:/root/.Xauthority:rw
    
    # 网络
    networks:
      - unity-ros-network
    
    # 重启策略
    restart: unless-stopped
    
    # 健康检查
    healthcheck:
      test: ["CMD", "ros2", "node", "list"]
      interval: 30s
      timeout: 10s
      retries: 3
      start_period: 40s
    
    # 资源限制
    deploy:
      resources:
        limits:
          cpus: '2.0'
          memory: 2G
        reservations:
          cpus: '0.5'
          memory: 512M

  # MoveIt2 规划服务
  moveit-planner:
    build:
      context: ../../ros2-workspace
      dockerfile: Dockerfile.moveit
      args:
        ROS_DISTRO: humble
        ROBOT_NAME: niryo_one
    container_name: unity-moveit-planner
    hostname: moveit-planner
    
    # 依赖服务
    depends_on:
      ros2-bridge:
        condition: service_healthy
    
    # 环境变量
    environment:
      - ROS_DOMAIN_ID=42
      - RMW_IMPLEMENTATION=rmw_cyclonedx_cpp
      - ROBOT_NAME=niryo_one
      - MOVEIT_PLANNING_ATTEMPTS=10
      - MOVEIT_PLANNING_TIME=5.0
    
    # 卷挂载
    volumes:
      - ../robots:/workspace/robots:ro
      - ../ros2:/workspace/config:ro
      - ../../logs:/workspace/logs
    
    # 网络
    networks:
      - unity-ros-network
    
    # 重启策略
    restart: unless-stopped
    
    # 健康检查
    healthcheck:
      test: ["CMD", "ros2", "service", "list", "|", "grep", "plan_kinematic_path"]
      interval: 30s
      timeout: 10s
      retries: 3
      start_period: 60s
    
    # 资源限制
    deploy:
      resources:
        limits:
          cpus: '4.0'
          memory: 4G
        reservations:
          cpus: '1.0'
          memory: 1G

  # 可行性分析服务
  feasibility-analyzer:
    build:
      context: ../../analysis-service
      dockerfile: Dockerfile
    container_name: unity-feasibility-analyzer
    hostname: feasibility-analyzer
    
    # 依赖服务
    depends_on:
      ros2-bridge:
        condition: service_healthy
    
    # 环境变量
    environment:
      - ROS_DOMAIN_ID=42
      - RMW_IMPLEMENTATION=rmw_cyclonedx_cpp
      - ANALYSIS_RESOLUTION=0.05
      - CACHE_SIZE=1000
      - WORKER_THREADS=4
    
    # 卷挂载
    volumes:
      - ../analysis:/workspace/config:ro
      - ../../logs:/workspace/logs
      - ../../cache:/workspace/cache
    
    # 网络
    networks:
      - unity-ros-network
    
    # 重启策略
    restart: unless-stopped
    
    # 健康检查
    healthcheck:
      test: ["CMD", "ros2", "service", "list", "|", "grep", "analyze_feasibility"]
      interval: 30s
      timeout: 10s
      retries: 3
      start_period: 45s
    
    # 资源限制
    deploy:
      resources:
        limits:
          cpus: '2.0'
          memory: 3G
        reservations:
          cpus: '0.5'
          memory: 512M

  # 机器人仿真服务（可选）
  robot-simulation:
    build:
      context: ../../ros2-workspace
      dockerfile: Dockerfile.simulation
      args:
        ROS_DISTRO: humble
        ROBOT_NAME: niryo_one
    container_name: unity-robot-simulation
    hostname: robot-simulation
    
    # 依赖服务
    depends_on:
      moveit-planner:
        condition: service_healthy
    
    # 环境变量
    environment:
      - ROS_DOMAIN_ID=42
      - RMW_IMPLEMENTATION=rmw_cyclonedx_cpp
      - ROBOT_NAME=niryo_one
      - USE_SIM_TIME=true
      - GAZEBO_MODEL_PATH=/workspace/models
    
    # 卷挂载
    volumes:
      - ../robots:/workspace/robots:ro
      - ../../models:/workspace/models:ro
      - ../../logs:/workspace/logs
    
    # 网络
    networks:
      - unity-ros-network
    
    # 重启策略
    restart: unless-stopped
    
    # 仅在需要时启动
    profiles:
      - simulation
    
    # 资源限制
    deploy:
      resources:
        limits:
          cpus: '2.0'
          memory: 2G
        reservations:
          cpus: '0.5'
          memory: 512M

  # 数据库服务（用于缓存和日志）
  database:
    image: postgres:15-alpine
    container_name: unity-database
    hostname: database
    
    # 环境变量
    environment:
      - POSTGRES_DB=unity_ros
      - POSTGRES_USER=unity_user
      - POSTGRES_PASSWORD=unity_password
      - POSTGRES_INITDB_ARGS=--encoding=UTF-8 --lc-collate=C --lc-ctype=C
    
    # 卷挂载
    volumes:
      - postgres_data:/var/lib/postgresql/data
      - ./init-db.sql:/docker-entrypoint-initdb.d/init-db.sql:ro
    
    # 网络
    networks:
      - unity-ros-network
    
    # 重启策略
    restart: unless-stopped
    
    # 健康检查
    healthcheck:
      test: ["CMD-SHELL", "pg_isready -U unity_user -d unity_ros"]
      interval: 30s
      timeout: 10s
      retries: 3
      start_period: 30s
    
    # 仅在需要时启动
    profiles:
      - database
    
    # 资源限制
    deploy:
      resources:
        limits:
          cpus: '1.0'
          memory: 1G
        reservations:
          cpus: '0.25'
          memory: 256M

  # Redis缓存服务
  redis-cache:
    image: redis:7-alpine
    container_name: unity-redis-cache
    hostname: redis-cache
    
    # 命令参数
    command: redis-server --appendonly yes --maxmemory 512mb --maxmemory-policy allkeys-lru
    
    # 卷挂载
    volumes:
      - redis_data:/data
    
    # 网络
    networks:
      - unity-ros-network
    
    # 重启策略
    restart: unless-stopped
    
    # 健康检查
    healthcheck:
      test: ["CMD", "redis-cli", "ping"]
      interval: 30s
      timeout: 10s
      retries: 3
      start_period: 10s
    
    # 仅在需要时启动
    profiles:
      - cache
    
    # 资源限制
    deploy:
      resources:
        limits:
          cpus: '0.5'
          memory: 512M
        reservations:
          cpus: '0.1'
          memory: 128M

  # 监控服务
  monitoring:
    image: prom/prometheus:latest
    container_name: unity-monitoring
    hostname: monitoring
    
    # 端口
    ports:
      - "9090:9090"
    
    # 卷挂载
    volumes:
      - ./prometheus.yml:/etc/prometheus/prometheus.yml:ro
      - prometheus_data:/prometheus
    
    # 命令参数
    command:
      - '--config.file=/etc/prometheus/prometheus.yml'
      - '--storage.tsdb.path=/prometheus'
      - '--web.console.libraries=/etc/prometheus/console_libraries'
      - '--web.console.templates=/etc/prometheus/consoles'
      - '--storage.tsdb.retention.time=200h'
      - '--web.enable-lifecycle'
    
    # 网络
    networks:
      - unity-ros-network
    
    # 重启策略
    restart: unless-stopped
    
    # 仅在需要时启动
    profiles:
      - monitoring
    
    # 资源限制
    deploy:
      resources:
        limits:
          cpus: '1.0'
          memory: 1G
        reservations:
          cpus: '0.25'
          memory: 256M

  # 日志聚合服务
  log-aggregator:
    image: fluent/fluent-bit:latest
    container_name: unity-log-aggregator
    hostname: log-aggregator
    
    # 卷挂载
    volumes:
      - ./fluent-bit.conf:/fluent-bit/etc/fluent-bit.conf:ro
      - ../../logs:/workspace/logs:ro
      - /var/log:/var/log:ro
    
    # 网络
    networks:
      - unity-ros-network
    
    # 重启策略
    restart: unless-stopped
    
    # 仅在需要时启动
    profiles:
      - logging
    
    # 资源限制
    deploy:
      resources:
        limits:
          cpus: '0.5'
          memory: 512M
        reservations:
          cpus: '0.1'
          memory: 128M

# 网络定义
networks:
  unity-ros-network:
    driver: bridge
    ipam:
      config:
        - subnet: 172.20.0.0/16
    driver_opts:
      com.docker.network.bridge.name: unity-ros-br

# 卷定义
volumes:
  postgres_data:
    driver: local
  redis_data:
    driver: local
  prometheus_data:
    driver: local

# 扩展配置
x-common-variables: &common-variables
  ROS_DOMAIN_ID: 42
  RMW_IMPLEMENTATION: rmw_cyclonedx_cpp
  PYTHONUNBUFFERED: 1

x-logging: &default-logging
  driver: "json-file"
  options:
    max-size: "10m"
    max-file: "3"

# 默认配置
x-defaults: &defaults
  logging: *default-logging
  networks:
    - unity-ros-network