appRobotDriver/appRobot_full_portainer_Stack.yaml

services:

  appRobotGuacamole:
    image: abesnier/guacamole:latest
    container_name: appRobot_guacamole
    volumes:
      - /home/chk/Documents/appServerInstallation/guacamole/config:/config/guacamole
      - /home/chk/Documents/appServerInstallation/guacamole/postgres:/config/postgres
    restart: unless-stopped
    extra_hosts:
      - "host.docker.internal:host-gateway"
    networks:
      - default

  appRobotDriver:
    container_name: appRobot_Driver
    image: node:24-alpine
    working_dir: /usr/src/app
    volumes:
      - /home/chk/Documents/appRobotDriver:/usr/src/app
    command: npm start
    restart: unless-stopped
    environment:
      - NODE_ENV=development
      - NODE_OPTIONS=--inspect=0.0.0.0:2081
      - GRBL_BASE_IP=192.168.0.183
      - GRBL_ELLBOW_IP=192.168.0.202
      - GRBL_HAND_IP=192.168.0.250
      - ROBOT_SPEED_MODE=correct       
      - ROBOT_KINEMATICS=arm3segmentlinearx
      - ROBOT_GRBL_AUTOREPORT=true
      - ROBOT_GRBL_REPORT_INTERVAL=200
    ports:
      - "2098:2098"
      - "2081:2081"
    networks:
      - default



  appRobotSimulation:
    container_name: appRobot_Simulation
    image: node:24-alpine
    working_dir: /usr/src/app
    volumes:
      - /home/chk/Documents/appRobotSimulation:/usr/src/app
    environment:
      - TARGET_SERVER=wss://appRobot_Driver:2095
    command: npm start
    depends_on:
      - appRobotDriver
    restart: unless-stopped
    ports:
      - "1003:1003"
    networks:
      - default
      
      
  appRobotControl:
    image: node:24-alpine
    container_name: appRobot_Control
    working_dir: /app
    command: sh -c "npm install && node --inspect=0.0.0.0:9229 3DInput.js"
    ports:
      - "10010:10010"
      - "9229:9229"
    volumes:
      - /home/chk/Documents/appRobotControl:/app
    environment:
      #- NODE_ENV=production
      - NODE_ENV=development # mit debugging
      - TARGET_SERVER=wss://appRobot_Driver:2095
    depends_on:
      - appRobotDriver
    restart: unless-stopped


  appRobotHoming:
    image: node:20-bullseye
    container_name: appRobot_Homing
    working_dir: /app
    volumes:
      - /home/chk/Documents/appRobotHoming:/app
    environment:
      - WSS_VIDEO_DRIVER=wss://appRobot_Webcam:8448
      - WSS_URL=wss://appRobot_Driver:2095
      - HTTPS_PORT=2093
      - WEBCAM_URL=http://appRobot_Webcam:8444
      - BODYTRACKER_URL=http://appRobotBodyTracker:8446
    ports:
      - "2093:2093"
    depends_on:
      - appRobotDriver
    command: >
      /bin/bash -lc "apt-get update -qq && apt-get install -y --no-install-recommends python3-pip && pip3 install --quiet --no-cache-dir opencv-python-headless numpy && npm ci || npm install && node server/server.js"
    networks:
      - default
    restart: unless-stopped


  appRobot_Tunnel:
    image: alpine:latest
    container_name: appRobot_Tunnel
    restart: unless-stopped
    environment:
      - TZ=Europe/Zurich
    volumes:
      - /home/chk/Documents/AppServerPortalUI/.ssh:/root/.ssh:ro
    command: >
      /bin/sh -c "
      apk add --no-cache openssh-client autossh &&
      autossh -M 0 -N -o StrictHostKeyChecking=no \
      -i /root/.ssh/id_ed25519 \
      -o StrictHostKeyChecking=no \
      -o ServerAliveInterval=60 \
      -o ServerAliveCountMax=10 \
      -o ExitOnForwardFailure=yes \
      -N \
      -R 0.0.0.0:9703:portainer:9000 \
      -R 0.0.0.0:9710:appRobot_Control:10010 \
      -R 0.0.0.0:9798:appRobot_Driver:2098 \
      -R 0.0.0.0:9712:appRobot_Simulation:1003\
      -R 0.0.0.0:9743:appRobot_Webcam:8444 \
      -R 0.0.0.0:9780:appRobot_guacamole:8080 \
      -R 0.0.0.0:9793:appRobot_Homing:2093 \
      -R 0.0.0.0:9725:appRobot_AccessBase:443 \
      -R 0.0.0.0:9726:appRobot_AccessEllbow:443 \
      -R 0.0.0.0:9727:appRobot_AccessHand:443 \
      -R 0.0.0.0:9744:appRobot_CodeServer:8443 \
      -R 0.0.0.0:7060:overleaf:80 \
      tunnel@server.schooltech.ch -p 2255
      "

  cloudflared:
    image: cloudflare/cloudflared:latest
    container_name: appServer_cloudflare
    command: tunnel --no-autoupdate run --token eyJhIjoiOWUyYzk0OTI1ZWVlNmE4NjRiZjllZGRiM2ZmMDRmMTUiLCJ0IjoiZDc2YzI2MjAtZGE0ZC00OTJmLWI5YjgtODNjMjgwNjQ5MTFlIiwicyI6IllUbGpPREJtTURndFpHSTVZUzAwWkRnekxXRTRNek10TXpaaE56WTBabUpsT1RBMSJ9
    restart: unless-stopped


  appRobot_AccessBase:
    image: node:20-bullseye
    # Alternativ: node:20-alpine (kleiner, aber evtl. openssl/ca/certs nachziehen)
    container_name: appRobot_AccessBase    
    working_dir: /app
    volumes:
      - /home/chk/Documents/appRobotControlScara:/app
    environment:
      - FluidNcHost=192.168.0.183 #fluidncbase.local
      - FluidNcPort=80
      - PORT=443
    command: >
      /bin/bash -lc "
        npm ci || npm install &&
        node server/server.js
      "
    restart: unless-stopped


  appRobot_AccessEllbow:
    image: node:20-bullseye
    # Alternativ: node:20-alpine (kleiner, aber evtl. openssl/ca/certs nachziehen)
    container_name: appRobot_AccessEllbow    
    working_dir: /app
    volumes:
      - /home/chk/Documents/appRobotControlScara:/app
    environment:
      - FluidNcHost=192.168.0.202 #fluidncellbow.local
      - FluidNcPort=80
      - PORT=443
    command: >
      /bin/bash -lc "
        npm ci || npm install &&
        node server/server.js
      "
    restart: unless-stopped

  appRobot_AccessHand:
    image: node:20-bullseye
    container_name: appRobot_AccessHand    
    working_dir: /app
    volumes:
      - /home/chk/Documents/appRobotControlScara:/app
    environment:
      - FluidNcHost=192.168.0.250 #fluidnchand.local
      - FluidNcPort=80
      - PORT=443
    command: >
      /bin/bash -lc "
        npm ci || npm install &&
        node server/server.js
      "
    restart: unless-stopped




  yolo:
    image: ultralytics/ultralytics:latest
    container_name: appRobot_Yolo
    working_dir: /app
    volumes:
      - /home/chk/Documents/appRobotYolo:/app
      - /home/chk/Documents/AppRobotVideo/public/snapshots:/snapshots
    command: python watcher.py
    restart: unless-stopped



  webcam:
    build:
      context: /tmp
      dockerfile_inline: |
        FROM node:lts-bookworm-slim
        RUN apt-get update && apt-get install -y --no-install-recommends ffmpeg \
            && rm -rf /var/lib/apt/lists/*
        WORKDIR /usr/src/app
        EXPOSE 8424
    image: approbotwebcam:latest
    container_name: appRobot_Webcam
    restart: unless-stopped
    ports:
      - "8444:8444"
    command: >
      sh -c "(apt-get update && apt-get install -y --no-install-recommends i965-va-driver libva-drm2 vainfo) || echo 'WARN: VA-Treiber-Install fehlgeschlagen – H.264 evtl. nicht verfuegbar';
      npm install --omit=dev && node server.js"
    volumes:
      - /home/chk/Documents/appRobotWebcam:/usr/src/app

    devices:
      - /dev/v4l/by-id/usb-046d_0825_3BB3FE20-video-index0:/dev/video0   # cam0 – C270 (046d:0825)
      - /dev/v4l/by-id/usb-046d_081b_342D4F40-video-index0:/dev/video2   # cam1 – C270 (046d:081b)
      - /dev/v4l/by-id/usb-046d_HD_Pro_Webcam_C920_9C5591DF-video-index0:/dev/video4  # cam2 – C920      
      - /dev/dri:/dev/dri
    group_add:
      - video
    environment:
      - NODE_ENV=production
      - PORT=8444
      - LIBVA_DRIVER_NAME=i965  

networks:
  default:
    driver: bridge