docker-compose.yaml

version: "3.0"
networks:
  cleave: {}  # define a network that the components interact over
  # not strictly necessary when running docker-compose locally, as by default, services
  # are already connected to a hidden default network that allows them to communicate
services:
  cleave-plant:
    image: expeca/cleave:cleave  # the image we want to pull and run
    command: "run-plant examples/inverted_pendulum/plant/config.py" # the command we want to run
    # note that since the cleave containers put the "python cleave.py" command as their
    # ENTRYPOINT, this "command:" actually corresponds to whatever goes after "python cleave.py"
    # see here for the difference between an ENTRYPOINT and a CMD in a DOCKERFILE:
    # https://stackoverflow.com/questions/21553353/what-is-the-difference-between-cmd-and-entrypoint-in-a-dockerfile
    environment:
      # environment variables containing parameters to the plant
      CONTROLLER_ADDRESS: cleave-server  # no need to specify ip addresses, containers can find
      # each other by name
      EMU_DURATION: 10s
    networks:
      - cleave
    depends_on:
      # the plant depends on the controller
      - cleave-server
  cleave-server:
    image: expeca/cleave:cleave
    command: "run-controller examples/inverted_pendulum/controller/config.py"
    environment:
      PORT: 50000
    networks:
      - cleave