#!/usr/bin/env bash
set -euo pipefail

SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
# shellcheck disable=SC1091
source "${SCRIPT_DIR}/load-env.sh"
blitz_dev_prepare_bside_logging_env

cd "${OMNISOCKETGO_ROOT}"

export OMNISOCKET_SERVER_ADDR="${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR}"
export OMNISOCKET_RELAY_VIA="${ROBOT_SIDE_OMNISOCKET_RELAY_VIA}"
export OMNI_VIDEO_SERVER_ADDR="${OMNI_VIDEO_SERVER_ADDR}"
export OMNI_VIDEO_RELAY_VIA="${OMNI_VIDEO_RELAY_VIA}"
export OMNI_CONTROL_SERVER_ADDR="${OMNI_CONTROL_SERVER_ADDR}"
export OMNI_CONTROL_RELAY_VIA="${OMNI_CONTROL_RELAY_VIA}"

logger_pid=""

cleanup() {
  if [[ -n "${logger_pid}" ]]; then
    kill "${logger_pid}" 2>/dev/null || true
    wait "${logger_pid}" 2>/dev/null || true
  fi
}

start_5g_link_logger_if_needed() {
  if [[ "${OMNI_BOOT_MODE:-0}" == "1" ]]; then
    return 0
  fi
  bash "${SCRIPT_DIR}/start-5g-link-logger.sh" &
  logger_pid=$!
  echo "[start-b-side-omnid] 5G link logger -> ${BLITZ_5G_LINK_LOG_PATH:-unset}" >&2
}

if [[ ! -x "./bin/b_side_omnid" ]]; then
  if [[ "${OMNI_BOOT_MODE:-0}" == "1" ]]; then
    echo "Missing ./bin/b_side_omnid in boot mode; build it before enabling the autostart service." >&2
    exit 1
  fi
  make b_side_omnid
fi

launch_b_side_omnid() {
  trap cleanup EXIT INT TERM
  start_5g_link_logger_if_needed
  bash "${SCRIPT_DIR}/apply-camera-controls.sh"
  ./bin/b_side_omnid
}

if [[ "${B_SIDE_OMNID_USE_SUDO}" == "1" && "${EUID}" -ne 0 ]]; then
  exec sudo -E bash -lc 'cd "$1" && export B_SIDE_OMNID_USE_SUDO=0 && exec bash "$2"' _ "${OMNISOCKETGO_ROOT}" "${SCRIPT_DIR}/start-b-side-omnid.sh"
fi

launch_b_side_omnid