name: mai-fpv

x-fpv-env: &fpv-env
  FPV_MODEL_PATH: /app/best.pt
  FPV_SOURCE: ${FPV_SOURCE:-/data/input/source.mp4}
  FPV_SOURCE_MODE: ${FPV_SOURCE_MODE:-file}
  FPV_VIDEO_REALTIME: ${FPV_VIDEO_REALTIME:-1}
  FPV_SHOW_OUTPUT: ${FPV_SHOW_OUTPUT:-0}
  FPV_SAVE_INFER_VIDEO: ${FPV_SAVE_INFER_VIDEO:-1}
  FPV_OUT_VIDEO_PATH: ${FPV_OUT_VIDEO_PATH:-/data/out/out_infer.mp4}
  FPV_ARCHIVE_RECORD_MODE: ${FPV_ARCHIVE_RECORD_MODE:-fragments}
  FPV_DETECTION_CLIP_MAX_GAP_SEC: ${FPV_DETECTION_CLIP_MAX_GAP_SEC:-15}
  FPV_UI_FRAME_EXPORT_ENABLE: ${FPV_UI_FRAME_EXPORT_ENABLE:-1}
  FPV_UI_FRAME_EXPORT_PATH: ${FPV_UI_FRAME_EXPORT_PATH:-/dev/shm/fpv-latest.jpg}
  FPV_UI_FRAME_EXPORT_EVERY: ${FPV_UI_FRAME_EXPORT_EVERY:-1}
  FPV_UI_FRAME_EXPORT_JPEG_QUALITY: ${FPV_UI_FRAME_EXPORT_JPEG_QUALITY:-82}
  FPV_UI_FRAME_EXPORT_MAX_FPS: ${FPV_UI_FRAME_EXPORT_MAX_FPS:-50}
  FPV_REALTIME_SKIP_STALE_FRAMES: ${FPV_REALTIME_SKIP_STALE_FRAMES:-1}
  FPV_REALTIME_MAX_SKIP_FRAMES: ${FPV_REALTIME_MAX_SKIP_FRAMES:-8}
  FPV_REALTIME_PREVIEW_SKIPPED_FRAMES: ${FPV_REALTIME_PREVIEW_SKIPPED_FRAMES:-1}
  FPV_REALTIME_ANALYSIS_EVERY: ${FPV_REALTIME_ANALYSIS_EVERY:-2}
  FPV_GUIDANCE_EXPORT_ENABLE: ${FPV_GUIDANCE_EXPORT_ENABLE:-1}
  FPV_GUIDANCE_EXPORT_PATH: ${FPV_GUIDANCE_EXPORT_PATH:-/data/guidance/guidance_state.json}
  FPV_ERROR_OUTPUT_ENABLE: ${FPV_ERROR_OUTPUT_ENABLE:-1}
  FPV_ERROR_OUTPUT_PROTOCOL: ${FPV_ERROR_OUTPUT_PROTOCOL:-guidance_v1}
  FPV_ERROR_OUTPUT_HOST: ${FPV_ERROR_OUTPUT_HOST:-host.docker.internal}
  FPV_ERROR_OUTPUT_PORT: ${FPV_ERROR_OUTPUT_PORT:-5010}
  FPV_ERROR_OUTPUT_OBJECT_ID: ${FPV_ERROR_OUTPUT_OBJECT_ID:-1}
  FPV_ERROR_OUTPUT_UNITS: ${FPV_ERROR_OUTPUT_UNITS:-px}
  FPV_ERROR_OUTPUT_EVERY: ${FPV_ERROR_OUTPUT_EVERY:-1}
  FPV_ERROR_OUTPUT_HFOV_DEG: ${FPV_ERROR_OUTPUT_HFOV_DEG:-90}
  FPV_ERROR_OUTPUT_VFOV_DEG: ${FPV_ERROR_OUTPUT_VFOV_DEG:-60}
  FPV_ERROR_OUTPUT_RANGE_M: ${FPV_ERROR_OUTPUT_RANGE_M:-1}
  FPV_AUTOPILOT_ENABLE: ${FPV_AUTOPILOT_ENABLE:-1}
  FPV_AUTOPILOT_BACKEND: ${FPV_AUTOPILOT_BACKEND:-json}
  FPV_AUTOPILOT_JSON_PATH: ${FPV_AUTOPILOT_JSON_PATH:-/data/autopilot/autopilot_cmd.json}
  FPV_PROTO_UDP_ENABLE: ${FPV_PROTO_UDP_ENABLE:-1}
  FPV_PROTO_UDP_HOST: ${FPV_PROTO_UDP_HOST:-192.168.1.10}
  FPV_PROTO_UDP_PORT: ${FPV_PROTO_UDP_PORT:-5005}

services:
  fpv-tracker:
    profiles: ["standalone"]
    build:
      context: .
      dockerfile: Dockerfile
      args:
        PYTORCH_INDEX_URL: ${PYTORCH_INDEX_URL:-https://download.pytorch.org/whl/cu128}
    image: ${FPV_IMAGE:-fpv-tracker:cu128-offline}
    init: true
    gpus: all
    restart: "no"
    environment: *fpv-env
    volumes:
      - type: bind
        source: .
        target: /app
      - type: bind
        source: ${FPV_DATA_DIR:-./runtime-data}
        target: /data
      - type: bind
        source: ${FPV_INPUT_FILE:-./runtime-data/input/source.mp4}
        target: /data/input/source.mp4
        read_only: true
      - type: bind
        source: ${FPV_MODEL_FILE:-./best.pt}
        target: /app/best.pt
        read_only: true
    command: >
      sh -c "python3 main.py 2>&1 | tee /data/logs/main.log"

  fpv-ui:
    image: ${FPV_IMAGE:-fpv-tracker:cu128-offline}
    init: true
    gpus: all
    restart: unless-stopped
    command: ["python3", "ui_server.py"]
    environment:
      <<: *fpv-env
      FPV_DATA_DIR: /data
      FPV_UI_HOST: ${FPV_UI_HOST:-0.0.0.0}
      FPV_UI_PORT: 8080
      FPV_UI_LOG_PATH: /data/logs/main.log
      FPV_UI_FRAME_PATH: ${FPV_UI_FRAME_PATH:-/dev/shm/fpv-latest.jpg}
      FPV_UI_GUIDANCE_PATH: /data/guidance/guidance_state.json
      FPV_UI_OUT_DIR: /data/out
      FPV_UI_INPUT_DIR: /data/input
      FPV_CAMERA_BRIDGE_URL: ${FPV_CAMERA_BRIDGE_URL:-http://host.docker.internal:8091/stream.mjpg}
    volumes:
      - type: bind
        source: .
        target: /app
      - type: bind
        source: ${FPV_DATA_DIR:-./runtime-data}
        target: /data
      - type: bind
        source: ${FPV_MODEL_FILE:-./best.pt}
        target: /app/best.pt
        read_only: true
    ports:
      - "${FPV_UI_BIND:-127.0.0.1}:${FPV_UI_PORT:-8080}:8080/tcp"