# Self-contained compose for Sanad Package 4 (Custom AI Guide Tour, sanad-guide).
#   docker compose up -d --build      # -> http://<robot>:8014
#
# TWO-CONTAINER architecture: this `sanad-guide` (Python) bridges over HTTP to the
# SEPARATE `sanad-nav` = the existing web_nav3 / Nav2 / rosbridge ROS2 stack
# (Nav2_Projects/web_nav3, :8765). sanad-nav is NOT built here — run it separately
# and point WEB_NAV3_URL at it. Without it, tours degrade to preset (narrate-in-place)
# stops (WebNav3Client never raises).
services:
  p4:
    build:
      context: .
      dockerfile: Dockerfile
      args:
        BASE_OS_IMAGE: "${BASE_OS_IMAGE:-python:3.10-slim-bookworm}"
        WITH_UNITREE_SDK: "${WITH_UNITREE_SDK:-1}"
    image: "${SANAD_IMAGE:-sanad-p4:latest}"
    container_name: sanad-p4
    network_mode: host
    restart: unless-stopped
    cap_add:
      - NET_ADMIN
    group_add:
      - video
    environment:
      SANAD_PACKAGE: P4
      SANAD_DASHBOARD_PORT: "8014"
      SANAD_DASHBOARD_HOST: "0.0.0.0"
      SANAD_VOICE_BRAIN: gemini
      SANAD_AUDIO_PROFILE: "${SANAD_AUDIO_PROFILE:-builtin}"
      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: "${PULSE_COOKIE:-/run/user/1000/pulse/cookie}"   # root→uid-1000 PA auth
      SANAD_MASK_DIR: /app/mask
      SANAD_TOURS_DIR: /app/Sanad/data/tours
      # Nav bridge → the separate sanad-nav (web_nav3) stack:
      WEB_NAV3_URL: "${WEB_NAV3_URL:-http://127.0.0.1:8765}"
      SANAD_ROBOT_NAME: "${SANAD_ROBOT_NAME:-sanad}"
      SANAD_NAV_GOAL_TIMEOUT_S: "${SANAD_NAV_GOAL_TIMEOUT_S:-240}"
      SANAD_LICENSE: /etc/sanad/sanad.lic
      SANAD_PUBKEY: /etc/sanad/pubkey.ed25519
      SANAD_LICENSE_BIND: "${SANAD_LICENSE_BIND:-0}"
    devices:
      - "/dev/snd:/dev/snd"
      - "/dev/bus/usb:/dev/bus/usb"
      # - "/dev/video0:/dev/video0"   # OPTIONAL recognition — uncomment + set your camera node
    volumes:
      - "${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 tours / zones / faces / recordings
      - "./config/mask_config.json:/app/Sanad/config/mask_config.json"
      - "/var/run/dbus:/var/run/dbus"
      # - "/etc/machine-id:/etc/machine-id:ro"   # for SANAD_LICENSE_BIND=1