usdotfhwastoldev/cdasim-application:develop

services:
  cdasim:
    image: "${STOL_DOCKER_ORG:-usdotfhwastoldev}/cdasim:${CDASIM_VERSION:-develop}"
    container_name: cdasim
    privileged: true
    networks:
      - carma_sim_net
    environment:
      DISPLAY: "${DISPLAY}"
      QT_X11_NO_MITSHM: "1"
      MOSAIC_DOCKER_NETWORK: "container:cdasim"
      NVIDIA_VISIBLE_DEVICES: all
      NVIDIA_DRIVER_CAPABILITIES: graphics,utility,compute
      CARLA_RENDER_OFFSCREEN: ${CARLA_RENDER_OFFSCREEN:-false}
    volumes:
      - /var/run/docker.sock:/var/run/docker.sock
      - /opt/carma-simulation/tmp:/opt/carma-simulation/tmp
      - /dev:/dev
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - "${CDASIM_LOG_ROOT:-/opt/carma-simulation/logs}:/opt/carma-simulation/logs"
    group_add:
      - "${DOCKER_SOCKET_GID:-999}"
    deploy:
      resources:
        reservations:
          devices:
            - capabilities: [gpu]
    command: bash -c "./mosaic.sh -s ${MOSAIC_SCENARIO:-Town10}"

  carla-sensor-lib:
    image: "${STOL_DOCKER_ORG:-usdotfhwastoldev}/carla-sensor-lib:${CARLA_SENSOR_LIB_VERSION:-develop}"
    container_name: carla-sensor-lib
    restart: always
    networks:
      - carma_sim_net
    volumes:
      - "${CDASIM_LOG_ROOT:-/opt/carma-simulation/logs}/carla-sensor-lib:/home/CarlaCDASimAdapter/logs"
    command: >-
      bash -c "sleep 8;
      python3 -u /home/CarlaCDASimAdapter/src/CarlaCDASimAdapter.py
      --carla-host carla-server
      --xmlrpc-server-host 0.0.0.0
      --xmlrpc-server-port 8091"

  xml-rpc-server:
    image: "${STOL_DOCKER_ORG:-usdotfhwastoldev}/xml-rpc-server:${XML_RPC_SERVER_VERSION:-develop}"
    container_name: xml-rpc-server
    networks:
      - carma_sim_net
    command:
      - python3.10
      - /home/carma/src/carla_v0.10_xmlrpc_server.py
      - --debug
      - --carla-host=carla-server
      - "--host=0.0.0.0"
  econolite-virtual-controller:
    # Using latest tag will always attempt to pull from remote ignoring any cli params.
    # Will fail if no remote image exists
    image: usdotfhwastol/econolite-virtual-controller:save
    container_name: evc
    restart: always
    networks:
      carma_sim_net:
    environment:
      - DISPLAY=${DISPLAY}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix
      - ./evc_sumo:/home/carma/src/resources
      - ./pyeos_db:/home/carma/shared_data
    depends_on:
      - cdasim
    command: >
      bash -c "/home/carma/docker/start_evc.sh --traci-ip cdasim"


networks:
  carma_sim_net:
    external: true
    name: "${SIM_NETWORK_NAME:-carma-sim-net}"