# Self-contained compose for Sanad Package 3 (Recognition + Places + Memories).
#   docker compose up -d --build      # -> http://<robot>:8013
#   Jetson without buildx:  DOCKER_BUILDKIT=0 docker compose up -d --build
services:
  p3:
    build:
      context: .
      dockerfile: Dockerfile
      args:
        BASE_OS_IMAGE: "${BASE_OS_IMAGE:-python:3.10-slim-bookworm}"
        WITH_UNITREE_SDK: "${WITH_UNITREE_SDK:-1}"
    image: "${SANAD_IMAGE:-sanad-p3:latest}"
    container_name: sanad-p3
    network_mode: host
    restart: unless-stopped
    cap_add:
      - NET_ADMIN
    # camera V4L nodes are group 'video'; grant it so cv2.VideoCapture can open them.
    group_add:
      - video
    environment:
      SANAD_PACKAGE: P3
      SANAD_DASHBOARD_PORT: "8013"
      SANAD_DASHBOARD_HOST: "0.0.0.0"
      SANAD_VOICE_BRAIN: gemini
      SANAD_AUDIO_PROFILE: "${SANAD_AUDIO_PROFILE:-builtin}"   # builtin (chest, on a G1) | plugged (USB)
      SANAD_DDS_INTERFACE: "${SANAD_DDS_INTERFACE:-eth0}"
      # Plugged/Bluetooth audio (Anker USB, JBL BT) route through the HOST
      # PulseAudio server — chest ("builtin") uses DDS and needs none of this.
      PULSE_SERVER: "${PULSE_SERVER:-unix:/run/user/1000/pulse/native}"
      PULSE_COOKIE: "${PULSE_COOKIE:-/run/user/1000/pulse/cookie}"   # root→uid-1000 PA auth
      SANAD_MASK_DIR: /app/mask
      SANAD_MEMORIES_DIR: /app/Sanad/data/memories
      # Pin the colour camera node — on a RealSense the colour node is NOT video0.
      SANAD_CAMERA_USB_INDEX: "${SANAD_CAMERA_USB_INDEX:-}"
      SANAD_LICENSE: /etc/sanad/sanad.lic
      SANAD_PUBKEY: /etc/sanad/pubkey.ed25519
      SANAD_LICENSE_BIND: "${SANAD_LICENSE_BIND:-0}"
    devices:
      - "/dev/snd:/dev/snd"
      - "/dev/bus/usb:/dev/bus/usb"     # USB camera + BLE dongle
      # Camera V4L node(s). video0 is the common USB-webcam default; a RealSense
      # exposes ~6 nodes and the colour node is NOT video0 — add the others (or use
      # SANAD_CAMERA_USB_INDEX). If a node is absent, comment its line out.
      # Camera is OPTIONAL to boot: a bind of an ABSENT /dev/video0 makes `up` HARD-FAIL.
      # UNCOMMENT + set to YOUR camera V4L node (RealSense colour node is NOT video0) to enable recognition:
      # - "/dev/video0:/dev/video0"
      # - "/dev/video1:/dev/video1"
      # - "/dev/video2:/dev/video2"
      # - "/dev/video4:/dev/video4"
    volumes:
      - "${SANAD_LICENSE_FILE:-./license/sanad.lic.example}:/etc/sanad/sanad.lic:ro"
      # Plugged/Bluetooth audio (Anker/JBL): mount the host PulseAudio runtime dir
      # (socket + auth cookie) so the container sets ANY sink's volume/output — the
      # volume slider then drives chest (DDS) AND plugged (PA), exactly like SanadV3.
      # Chest ("builtin") audio uses DDS only and needs none of this. One-time host
      # setup for a stable boot-time socket: `loginctl enable-linger unitree`.
      - "${SANAD_PULSE_DIR:-/run/user/1000/pulse}:/run/user/1000/pulse"
      - "./data:/app/Sanad/data"        # persist faces / zones / memories / recordings
      - "./config/mask_config.json:/app/Sanad/config/mask_config.json"
      - "/var/run/dbus:/var/run/dbus"   # host BlueZ/D-Bus for the LED mask
      # Bound license also needs the host machine-id:
      # - "/etc/machine-id:/etc/machine-id:ro"