services:
  # Buster Leader-Follower Control Component
  buster-leader-follower:
    container_name: buster_leader_follower
    image: ${ECR_REGISTRY}${ECR_REGISTRY:+/}buster-leader-follower:${BUSTER_TAG}
    restart: unless-stopped

    ports:
      - "${LEADER_FOLLOWER_PORT}:8080"

    networks:
      - buster-network

    environment:
      # ROS2 Configuration
      ROS_DOMAIN_ID: ${ROS_DOMAIN_ID}
      RMW_IMPLEMENTATION: rmw_fastrtps_cpp

      # Skynet Connection
      SKYNET_BASE_URL: ${SKYNET_BASE_URL}
      HEARTBEAT_INTERVAL: ${HEARTBEAT_INTERVAL}
      COMMAND_POLL_INTERVAL: ${COMMAND_POLL_INTERVAL}

      COMPONENT_ID: buster-leader-follower
      COMPONENT_NAME: "Buster Leader-Follower Control"
      COMPONENT_TYPE: control
      COMPONENT_HOST: buster-leader-follower
      COMPONENT_DESCRIPTION: "Buster leader-follower control"

    volumes:
      # Data recording storage - shared across components
      - ./bags:/bags:rw

    # Health check for integrated component
    healthcheck:
      test: ["CMD", "bash", "-c", ". /opt/ros/humble/setup.bash && ros2 topic list > /dev/null && python3 -c 'import requests; print(\"healthy\")'"]
      interval: 30s
      timeout: 10s
      retries: 3
      start_period: 60s

    # Logging configuration
    logging:
      driver: "json-file"
      options:
        max-size: "10m"
        max-file: "3"

  # Buster Robot Embodiment Component
  buster-embodiment:
    container_name: buster_embodiment
    image: ${ECR_REGISTRY}${ECR_REGISTRY:+/}buster-embodiment:${BUSTER_TAG}
    restart: unless-stopped

    ports:
      - "${EMBODIMENT_PORT}:8080"

    networks:
      - buster-network

    environment:
      # ROS2 Configuration
      ROS_DOMAIN_ID: ${ROS_DOMAIN_ID}
      RMW_IMPLEMENTATION: rmw_fastrtps_cpp

      # Skynet Connection
      SKYNET_BASE_URL: ${SKYNET_BASE_URL}
      HEARTBEAT_INTERVAL: ${HEARTBEAT_INTERVAL}
      COMMAND_POLL_INTERVAL: ${COMMAND_POLL_INTERVAL}

      COMPONENT_ID: buster-embodiment
      COMPONENT_NAME: "Buster Robot Embodiment"
      COMPONENT_TYPE: embodiment
      COMPONENT_HOST: buster-embodiment
      COMPONENT_DESCRIPTION: "Buster embodiment"

    volumes:
      # Data recording storage - shared across components
      - ./bags:/bags:rw

    # Health check for integrated component
    healthcheck:
      test: ["CMD", "bash", "-c", ". /opt/ros/humble/setup.bash && ros2 topic list > /dev/null && python3 -c 'import requests; print(\"healthy\")'"]
      interval: 30s
      timeout: 10s
      retries: 3
      start_period: 60s

    # Logging configuration
    logging:
      driver: "json-file"
      options:
        max-size: "10m"
        max-file: "3"

  # Centralized Data Capture Service
  data-capture:
    container_name: buster_data_capture
    image: ${ECR_REGISTRY}${ECR_REGISTRY:+/}data-capture:${BUSTER_TAG}
    restart: unless-stopped

    ports:
      - "${DATA_CAPTURE_PORT}:8080"

    networks:
      - buster-network

    environment:
      # ROS2 Configuration
      ROS_DOMAIN_ID: ${ROS_DOMAIN_ID}
      RMW_IMPLEMENTATION: rmw_fastrtps_cpp

      # Skynet Connection
      SKYNET_BASE_URL: ${SKYNET_BASE_URL}
      HEARTBEAT_INTERVAL: ${HEARTBEAT_INTERVAL}
      COMMAND_POLL_INTERVAL: ${COMMAND_POLL_INTERVAL}

      COMPONENT_ID: buster-data-capture
      COMPONENT_NAME: "Buster Data Capture Service"
      COMPONENT_TYPE: data_capture
      COMPONENT_HOST: data-capture
      COMPONENT_DESCRIPTION: "Centralized data recording service for all ROS2 topics"

    volumes:
      # Data recording storage
      - ./bags:/bags:rw
      # Configuration files
      - ./config/data-capture.yaml:/app/config/capture_config.yaml:ro

    # Health check
    healthcheck:
      test: ["CMD", "bash", "-c", ". /opt/ros/humble/setup.bash && ros2 topic list > /dev/null"]
      interval: 30s
      timeout: 10s
      retries: 3
      start_period: 30s

    # Logging configuration
    logging:
      driver: "json-file"
      options:
        max-size: "10m"
        max-file: "3"

networks:
  buster-network:
    driver: bridge
    name: buster-component