henrytherobotandClaude Opus 4.7
08977ac6f6
Mount mscli + master_service.sock into the container and stop video_hub_pc4 at startup (and every 10s) so the RealSense pipeline can open the D435i V4L2 node without EBUSY. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
105 lines
3.2 KiB
YAML
105 lines
3.2 KiB
YAML
services:
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# -- NATS Server ----------------------------
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nats:
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image: nats:latest
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profiles: ["nats"]
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ports:
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- "4222:4222"
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- "8222:8222"
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command: >
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--auth ${NATS_TOKEN:-realsense-dev-token}
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--http_port 8222
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restart: unless-stopped
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healthcheck:
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test: ["CMD", "nats-server", "--help"]
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interval: 5s
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timeout: 3s
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retries: 3
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start_period: 5s
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# -- Backend --------------------------------
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backend:
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build:
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context: .
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dockerfile: Dockerfile
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# network: host so that build-time apt/git/pip can reach the
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# tinyproxy running on the host at localhost:8888.
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network: host
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privileged: true
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ports:
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- "${API_PORT:-8878}:8878"
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devices:
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- "/dev/bus/usb:/dev/bus/usb"
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volumes:
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- ./images:/app/images
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- ./models:/app/models:ro
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# mscli + master_service socket so the container can stop the
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# Unitree video_hub_pc4 service (it holds /dev/video4 — the D435i
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# V4L2 node — and would otherwise make Open() fail with EBUSY).
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- /unitree/sbin/mscli:/unitree/sbin/mscli:ro
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- /unitree/var/run/master_service.sock:/unitree/var/run/master_service.sock
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entrypoint:
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- bash
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- -c
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- |
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/unitree/sbin/mscli stopservice video_hub_pc4 >/dev/null 2>&1 || true
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sleep 2
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( while sleep 10; do /unitree/sbin/mscli stopservice video_hub_pc4 >/dev/null 2>&1 || true; done ) &
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exec /app/entrypoint.sh
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env_file: .env
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depends_on:
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nats:
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condition: service_healthy
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required: false
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restart: unless-stopped
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labels:
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# autoheal monitora SOLO i container con questa label = true
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autoheal: "true"
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healthcheck:
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# Healthcheck "vero": fallisce se camera_open != true.
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# Usa /api/health (pubblico, no API key) che già ritorna camera_open.
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# 4 retry × 15s ⇒ ~1 min di stato cattivo prima dell'autoheal restart.
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test:
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- CMD
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- python3
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- -c
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- |
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import urllib.request, json, sys
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try:
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r = urllib.request.urlopen('http://localhost:8878/api/health', timeout=3)
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d = json.loads(r.read())
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sys.exit(0 if d.get('data', {}).get('camera_open') else 1)
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except Exception:
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sys.exit(1)
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interval: 15s
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timeout: 5s
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retries: 4
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start_period: 30s
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# -- Autoheal -------------------------------
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# Monitora i container con label `autoheal=true` e li restarta automaticamente
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# quando Docker li marca "unhealthy". Risolve il caso "pyrealsense2 SDK stuck".
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autoheal:
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image: willfarrell/autoheal:latest
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container_name: autoheal-d435
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restart: always
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environment:
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AUTOHEAL_CONTAINER_LABEL: autoheal
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AUTOHEAL_INTERVAL: 10
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AUTOHEAL_START_PERIOD: 30
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volumes:
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- /var/run/docker.sock:/var/run/docker.sock:ro
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# -- Frontend React Dev (hot reload) --------
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frontend-dev:
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image: node:20-alpine
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working_dir: /app
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volumes:
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- ./src/frontend/react:/app
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- /app/node_modules
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command: sh -c "npm ci && npm run dev -- --host 0.0.0.0"
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ports:
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- "5173:5173"
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profiles: [dev]
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