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

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

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}"

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() {
  bash "${SCRIPT_DIR}/apply-camera-controls.sh"
  exec ./bin/b_side_omnid
}

if [[ "${B_SIDE_OMNID_USE_SUDO}" == "1" && "${EUID}" -ne 0 ]]; then
  exec sudo -E bash -lc 'cd "$1" && bash "$2" && exec "$3"' _ "${OMNISOCKETGO_ROOT}" "${SCRIPT_DIR}/apply-camera-controls.sh" "./bin/b_side_omnid"
fi

launch_b_side_omnid