services:
  pc-dev-base:
    image: sim_dev:gz_harmonic
    # container_name: ${PROJECT}-pc-dev
    runtime: nvidia  # 启用 NVIDIA GPU 支持
    stdin_open: true  # 保持标准输入打开
    tty: true         # 分配一个伪终端
    privileged: true  # 特权模式，允许访问所有 /dev 设备
    extra_hosts:
      - "host.docker.internal:host-gateway"
    environment:
      - DISPLAY=${DISPLAY}
      - NVIDIA_DRIVER_CAPABILITIES=all
    volumes:
      - /dev/dri:/dev/dri
      # - ${WORKSPACE}:/workspace
      # - ${DATASET}:/dataset
      - /tmp/.X11-unix:/tmp/.X11-unix
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]
              
  rk3588-dev-base:
      image: rk3588_dev:jazzy
      # container_name: ${PROJECT}-rk3588-dev
      stdin_open: true  # 保持标准输入打开
      tty: true         # 分配一个伪终端
      # volumes:
      #   - ${WORKSPACE}:/workspace