# Tier-2 e2e harness — Jetson Orin Nano (JetPack 6.x, L4T R36.x).
#
# AZ-615: companion compose file to `docker-compose.test.yml` that runs
# the full Reality Gate on a CUDA-capable host. Used via `ssh jetson-e2e
# "docker compose -f docker-compose.test.jetson.yml up ..."` driven by
# `scripts/run-tests-jetson.sh`.
#
# Difference vs. docker-compose.test.yml:
#   * `runtime: nvidia` + `gpus: all` on `e2e-runner` so the SUT can
#     resolve `model.half().cuda()` against the Orin GPU.
#   * `GPS_DENIED_TIER=2` — turns OFF the auto-skip for `@pytest.mark.tier2`
#     ACs (see tests/conftest.py:31-44). The heavy ACs (AC-1, AC-2, AC-3,
#     AC-5, AC-6) actually run.
#   * Builds from `tests/e2e/Dockerfile.jetson` (l4t-pytorch base).
#   * Companion / db / mock-sat continue to come from the root
#     `docker-compose.yml` via `extends:` (same as Colima) — they have ARM64
#     tags via the existing build pipeline.
#
# Satellite-provider integration (real .NET service at ../satellite-provider/)
# is tracked separately under AZ-616 and lands as a follow-up patch to this
# file once the auth + tile-source strategy is decided.

services:
  companion:
    extends:
      file: docker-compose.yml
      service: companion
    environment:
      LOG_LEVEL: INFO

  operator-orchestrator:
    extends:
      file: docker-compose.yml
      service: operator-orchestrator

  mock-sat:
    extends:
      file: docker-compose.yml
      service: mock-sat

  db:
    extends:
      file: docker-compose.yml
      service: db

  e2e-runner:
    build:
      context: .
      dockerfile: tests/e2e/Dockerfile.jetson
    image: gps-denied-onboard/e2e-runner:jetson
    # nvidia-container-runtime exposes the Tegra GPU + libcuda mounts.
    # Without this block the container starts but `torch.cuda.is_available()`
    # returns False and every tier2 AC errors at `.cuda()`.
    runtime: nvidia
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]
    depends_on:
      companion:
        condition: service_healthy
      mock-sat:
        condition: service_healthy
      db:
        condition: service_healthy
    environment:
      # Same FullSystemConfig env block as Colima — see comments in
      # docker-compose.test.yml for the per-var rationale.
      GPS_DENIED_FC_PROFILE: ardupilot_plane
      # Tier-2 turns OFF the `tier2` / `gpu` auto-skip in tests/conftest.py
      # so the heavy ACs in tests/e2e/replay/test_derkachi_1min.py actually
      # execute. This is the WHOLE POINT of the Jetson harness.
      GPS_DENIED_TIER: "2"
      DB_URL: postgresql://gps_denied:dev@db:5432/gps_denied
      SATELLITE_PROVIDER_URL: http://mock-sat:5100
      COMPANION_URL: http://companion:8080
      CAMERA_CALIBRATION_PATH: /opt/tests/fixtures/calibration/adti26.json
      LOG_LEVEL: INFO
      LOG_SINK: console
      INFERENCE_BACKEND: pytorch_fp16
      FDR_PATH: /var/lib/gps-denied/fdr
      TILE_CACHE_PATH: /var/lib/gps-denied/tiles
      MAVLINK_SIGNING_KEY: /opt/tests/fixtures/mavlink_signing/dev_key
      RUN_REPLAY_E2E: "1"
      # Replay-mode build flags (Invariant 9). See identical block in
      # docker-compose.test.yml — all three are required for the
      # composition root to construct the replay strategies. The
      # original harness only set BUILD_REPLAY_SINK_JSONL because
      # every Reality-Gate run died at auto-sync before the other
      # two flags were checked.
      BUILD_VIDEO_FILE_FRAME_SOURCE: "ON"
      BUILD_TLOG_REPLAY_ADAPTER: "ON"
      BUILD_REPLAY_SINK_JSONL: "ON"
    volumes:
      - ./tests:/opt/tests:ro
      - ./_docs/00_problem/input_data:/opt/_docs/00_problem/input_data:ro
      - fdr-data:/var/lib/gps-denied/fdr
      - tile-data:/var/lib/gps-denied/tiles

volumes:
  db-data: {}
  fdr-data: {}
  tile-data: {}