services:

  # -- NATS Server ----------------------------
  nats:
    image: nats:latest
    profiles: ["nats"]
    ports:
      - "4222:4222"
      - "8222:8222"
    command: >
      --auth ${NATS_TOKEN:-realsense-dev-token}
      --http_port 8222
    restart: unless-stopped
    healthcheck:
      test: ["CMD", "nats-server", "--help"]
      interval: 5s
      timeout: 3s
      retries: 3
      start_period: 5s

  # -- Backend --------------------------------
  backend:
    build:
      context: .
      dockerfile: Dockerfile
      # network: host so that build-time apt/git/pip can reach the
      # tinyproxy running on the host at localhost:8888.
      network: host
    privileged: true
    ports:
      - "${API_PORT:-8878}:8878"
    devices:
      - "/dev/bus/usb:/dev/bus/usb"
    volumes:
      - ./images:/app/images
      - ./models:/app/models:ro
      # mscli + master_service socket so the container can stop the
      # Unitree video_hub_pc4 service (it holds /dev/video4 — the D435i
      # V4L2 node — and would otherwise make Open() fail with EBUSY).
      # Mount the *directory*, not the socket file: master_service unlinks
      # and recreates the socket on every host boot/restart, and a bind
      # mount of the file pins the old (now dead) inode, so every mscli
      # call inside the container fails with "Connect to server error".
      - /unitree/sbin/mscli:/unitree/sbin/mscli:ro
      - /unitree/var/run:/unitree/var/run
    entrypoint:
      - bash
      - -c
      - |
        stop_videohub() {
          out=$$(/unitree/sbin/mscli stopservice video_hub_pc4 2>&1) || true
          case "$$out" in
            *"Connect to server error"*|*"connect error"*)
              echo "[entrypoint] WARN mscli cannot reach master_service.sock:" \
                   "/dev/video4 will stay busy and the camera will not open. $$out" >&2 ;;
          esac
        }
        stop_videohub
        sleep 2
        ( while sleep 10; do stop_videohub; done ) &
        exec /app/entrypoint.sh
    env_file: .env
    depends_on:
      nats:
        condition: service_healthy
        required: false
    restart: unless-stopped
    labels:
      # autoheal monitora SOLO i container con questa label = true
      autoheal: "true"
    healthcheck:
      # Healthcheck "vero": fallisce se camera_open != true.
      # Usa /api/health (pubblico, no API key) che già ritorna camera_open.
      # 4 retry × 15s ⇒ ~1 min di stato cattivo prima dell'autoheal restart.
      test:
        - CMD
        - python3
        - -c
        - |
          import urllib.request, json, sys
          try:
              r = urllib.request.urlopen('http://localhost:8878/api/health', timeout=3)
              d = json.loads(r.read())
              sys.exit(0 if d.get('data', {}).get('camera_open') else 1)
          except Exception:
              sys.exit(1)
      interval: 15s
      timeout: 5s
      retries: 4
      start_period: 30s

  # -- Autoheal -------------------------------
  # Monitora i container con label `autoheal=true` e li restarta automaticamente
  # quando Docker li marca "unhealthy". Risolve il caso "pyrealsense2 SDK stuck".
  autoheal:
    image: willfarrell/autoheal:latest
    container_name: autoheal-d435
    restart: always
    environment:
      AUTOHEAL_CONTAINER_LABEL: autoheal
      AUTOHEAL_INTERVAL: 10
      AUTOHEAL_START_PERIOD: 30
    volumes:
      - /var/run/docker.sock:/var/run/docker.sock:ro

  # -- Frontend React Dev (hot reload) --------
  frontend-dev:
    image: node:20-alpine
    working_dir: /app
    volumes:
      - ./src/frontend/react:/app
      - /app/node_modules
    command: sh -c "npm ci && npm run dev -- --host 0.0.0.0"
    ports:
      - "5173:5173"
    profiles: [dev]