docker-compose.yml

x-scenario-mount: &scenario-mount ./${scenario_folder}:/scenarios
x-sensors-mount:  &sensors-mount  ./${sensors_config}:/sensors.json

# ==============================================================================

services:

  # --- core services ----------------------------------------------------------
  
  carla-simulator:
    extends:
      file: ../utils/components.yml
      service: carla-simulator-offscreen

  carla-ros-bridge:
    extends:
      file: ../utils/components.yml
      service: carla-ros-bridge
    depends_on:
      carla-simulator:
        condition: service_healthy
    volumes:
      - *sensors-mount
      - ./launch/demo.launch.py:/demo.launch.py
    command: bash -ic "ros2 launch /demo.launch.py town:=${town}"

  # ----------------------------------------------------------------------------
  # --- checking services ------------------------------------------------------

  time-health-check:
    extends:
      file: ../utils/components.yml
      service: carla-client
    depends_on:
      carla-simulator:
        condition: service_healthy
    volumes:
      - ./src/time_controller.py:/opt/carla/PythonAPI/time_controller.py
    command: bash -ic "python time_controller.py --host carla-simulator ${max_simulation_time} ${max_real_time}"

  spawned-vehicle-check:
    extends:
      file: ../utils/components.yml
      service: carla-client
    depends_on:
      carla-simulator:
        condition: service_healthy
    volumes:
      - ./src/spawned_vehicle_check.py:/opt/carla/PythonAPI/spawned_vehicle_check.py
    command: sleep infinity
    healthcheck:
      test: ["CMD-SHELL", "bash -ic \"python spawned_vehicle_check.py --host carla-simulator --role_name_list ${role_names}\""]
      interval: 1s
      start_period: 10s
      retries: 3

  # ----------------------------------------------------------------------------
  # --- Option A: apply random permutation setups ------------------------------
  carla-simulation-controller:
    extends:
      file: ../utils/components.yml
      service: carla-client
    depends_on:
      spawned-vehicle-check:
        condition: service_healthy
    volumes:
      - ./src/simulation_controller.py:/opt/carla/PythonAPI/simulation_controller.py
      - ./src/set_environment.py:/opt/carla/PythonAPI/set_environment.py
      - *sensors-mount
    command: bash -ic "python simulation_controller.py --host carla-simulator ${key_config_string}"

  # --- Option B: apply concrete scenario setups -------------------------------
  carla-scenario-runner:
    extends:
      file: ../utils/components.yml
      service: carla-scenario-runner
    depends_on:
      spawned-vehicle-check:
        condition: service_healthy
    volumes:
      - *scenario-mount
    command: bash -ic "python ./scenario_runner.py --host carla-simulator --openscenario /scenarios/${scenario} --waitForEgo --output"

  # ----------------------------------------------------------------------------
  # --- recording services -----------------------------------------------------
  rosbag-record:
    extends:
      file: ../utils/components.yml
      service: ros-monitoring-offscreen
    depends_on:
      spawned-vehicle-check:
          condition: service_healthy
    volumes:
      - ${output_path}:/docker-ros/ws/data
    command: bash -ic "ros2 bag record -o /docker-ros/ws/data/bags/${run_name}_$(date +%Y-%m-%d-%H-%M) ${record_topics_arg}"