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

SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
DEFAULT_OMNISOCKETGO_ROOT="$(cd "${SCRIPT_DIR}/../.." && pwd)"

die() {
  echo "$*" >&2
  return 1 2>/dev/null || exit 1
}

is_omnisocketgo_root() {
  local dir="$1"
  [[ -f "${dir}/Makefile" && -f "${dir}/cmd/b_side_omnid.c" && -d "${dir}/ros-control-py" ]]
}

is_robot_command_center_root() {
  local dir="$1"
  [[ -f "${dir}/backend/config/asgi.py" && -f "${dir}/frontend/package.json" ]]
}

require_robot_command_center_root() {
  if ! is_robot_command_center_root "${ROBOT_COMMAND_CENTER_ROOT}"; then
    die "ROBOT_COMMAND_CENTER_ROOT must point to the robot-command-center repo root. Current value: ${ROBOT_COMMAND_CENTER_ROOT}. Set it in ${SCRIPT_DIR}/robot-remote.env.local if needed."
  fi
}

export OMNISOCKETGO_ROOT="${OMNISOCKETGO_ROOT:-${DEFAULT_OMNISOCKETGO_ROOT}}"

omni_camera_device_was_set=0
omni_camera_profile_was_set=0
omni_camera_brightness_was_set=0
omni_camera_custom_ctrl_was_set=0
omni_camera_verify_was_set=0

if [[ "${OMNI_CAMERA_DEVICE+x}" == "x" ]]; then
  omni_camera_device_was_set=1
  preserved_omni_camera_device="${OMNI_CAMERA_DEVICE}"
fi
if [[ "${OMNI_CAMERA_PROFILE+x}" == "x" ]]; then
  omni_camera_profile_was_set=1
  preserved_omni_camera_profile="${OMNI_CAMERA_PROFILE}"
fi
if [[ "${OMNI_CAMERA_BRIGHTNESS+x}" == "x" ]]; then
  omni_camera_brightness_was_set=1
  preserved_omni_camera_brightness="${OMNI_CAMERA_BRIGHTNESS}"
fi
if [[ "${OMNI_CAMERA_CUSTOM_CTRL+x}" == "x" ]]; then
  omni_camera_custom_ctrl_was_set=1
  preserved_omni_camera_custom_ctrl="${OMNI_CAMERA_CUSTOM_CTRL}"
fi
if [[ "${OMNI_CAMERA_VERIFY+x}" == "x" ]]; then
  omni_camera_verify_was_set=1
  preserved_omni_camera_verify="${OMNI_CAMERA_VERIFY}"
fi

ENV_FILES=(
  "${SCRIPT_DIR}/robot-remote.env"
  "${SCRIPT_DIR}/robot-remote.env.local"
)

for env_file in "${ENV_FILES[@]}"; do
  if [[ -f "${env_file}" ]]; then
    set -a
    # shellcheck disable=SC1090
    source "${env_file}"
    set +a
  fi
done

if [[ "${omni_camera_device_was_set}" == "1" ]]; then
  export OMNI_CAMERA_DEVICE="${preserved_omni_camera_device}"
fi
if [[ "${omni_camera_profile_was_set}" == "1" ]]; then
  export OMNI_CAMERA_PROFILE="${preserved_omni_camera_profile}"
fi
if [[ "${omni_camera_brightness_was_set}" == "1" ]]; then
  export OMNI_CAMERA_BRIGHTNESS="${preserved_omni_camera_brightness}"
fi
if [[ "${omni_camera_custom_ctrl_was_set}" == "1" ]]; then
  export OMNI_CAMERA_CUSTOM_CTRL="${preserved_omni_camera_custom_ctrl}"
fi
if [[ "${omni_camera_verify_was_set}" == "1" ]]; then
  export OMNI_CAMERA_VERIFY="${preserved_omni_camera_verify}"
fi

export OMNISOCKETGO_ROOT="${OMNISOCKETGO_ROOT:-${DEFAULT_OMNISOCKETGO_ROOT}}"
export ROBOT_COMMAND_CENTER_ROOT="${ROBOT_COMMAND_CENTER_ROOT:-$(dirname "${OMNISOCKETGO_ROOT}")/robot-command-center}"

if ! is_omnisocketgo_root "${OMNISOCKETGO_ROOT}"; then
  die "OMNISOCKETGO_ROOT must point to the OmniSocketGo repo root. Current value: ${OMNISOCKETGO_ROOT}"
fi

export BACKEND_DIR="${BACKEND_DIR:-${ROBOT_COMMAND_CENTER_ROOT}/backend}"
export FRONTEND_DIR="${FRONTEND_DIR:-${ROBOT_COMMAND_CENTER_ROOT}/frontend}"
export ROS_CONTROL_PY_DIR="${ROS_CONTROL_PY_DIR:-${OMNISOCKETGO_ROOT}/ros-control-py}"
export PYTHON3_BIN="${PYTHON3_BIN:-python3}"
export PYTHON_VENV_PATH="${PYTHON_VENV_PATH:-${OMNISOCKETGO_ROOT}/.venv}"
export BACKEND_HOST="${BACKEND_HOST:-0.0.0.0}"
export BACKEND_PORT="${BACKEND_PORT:-8001}"
export FRONTEND_HOST="${FRONTEND_HOST:-0.0.0.0}"
export FRONTEND_PORT="${FRONTEND_PORT:-5173}"
export OMNISOCKET_TELEMETRY_PEER_ID="${OMNISOCKET_TELEMETRY_PEER_ID:-peer-a-telemetry}"
export OMNISOCKET_TELEMETRY_INTERVAL_MS="${OMNISOCKET_TELEMETRY_INTERVAL_MS:-1000}"
export OMNISOCKET_TELEMETRY_STALE_AFTER_MS="${OMNISOCKET_TELEMETRY_STALE_AFTER_MS:-3000}"
export OMNI_NETWORK_SUMMARY_LOG_ENABLED="${OMNI_NETWORK_SUMMARY_LOG_ENABLED:-1}"
export OMNI_NETWORK_SUMMARY_LOG_PATH="${OMNI_NETWORK_SUMMARY_LOG_PATH:-${OMNISOCKETGO_ROOT}/logs/a-network-summary.jsonl}"
export OMNI_NETWORK_SUMMARY_LOG_INTERVAL_MS="${OMNI_NETWORK_SUMMARY_LOG_INTERVAL_MS:-2000}"
export OMNI_NETWORK_SUMMARY_LOG_REQUEST_TIMEOUT_SEC="${OMNI_NETWORK_SUMMARY_LOG_REQUEST_TIMEOUT_SEC:-3}"
export CONTROL_SIDE_OMNISOCKET_SERVER_ADDR="${CONTROL_SIDE_OMNISOCKET_SERVER_ADDR:-}"
export CONTROL_SIDE_OMNISOCKET_RELAY_VIA="${CONTROL_SIDE_OMNISOCKET_RELAY_VIA:-}"
export ROBOT_SIDE_OMNISOCKET_SERVER_ADDR="${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR:-}"
export ROBOT_SIDE_OMNISOCKET_RELAY_VIA="${ROBOT_SIDE_OMNISOCKET_RELAY_VIA:-}"
export ROS_DISTRO="${ROS_DISTRO:-jazzy}"
export ROBOT_RECEIVER_TRANSPORT="${ROBOT_RECEIVER_TRANSPORT:-unix_dgram}"
export ROBOT_RECEIVER_SERVER_ADDR="${ROBOT_RECEIVER_SERVER_ADDR:-${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR:-}}"
export ROBOT_RECEIVER_RELAY_VIA="${ROBOT_RECEIVER_RELAY_VIA:-${ROBOT_SIDE_OMNISOCKET_RELAY_VIA:-}}"
export ROBOT_RECEIVER_PEER_ID="${ROBOT_RECEIVER_PEER_ID:-ros-bridge-ctrl}"
export ROBOT_RECEIVER_EXPECTED_SENDER="${ROBOT_RECEIVER_EXPECTED_SENDER:-}"
export ROBOT_RECEIVER_LOCAL_SOCKET_PATH="${ROBOT_RECEIVER_LOCAL_SOCKET_PATH:-/tmp/omnisocket-b-side-cmd.sock}"
export ROBOT_RECEIVER_OUTPUT_TOPIC="${ROBOT_RECEIVER_OUTPUT_TOPIC:-/hric/robot/cmd_vel}"
export ROBOT_RECEIVER_FRAME_ID="${ROBOT_RECEIVER_FRAME_ID:-pelvis}"
export ROBOT_RECEIVER_WATCHDOG_TIMEOUT="${ROBOT_RECEIVER_WATCHDOG_TIMEOUT:-0.5}"
export ROBOT_RECEIVER_PUBLISH_RATE_HZ="${ROBOT_RECEIVER_PUBLISH_RATE_HZ:-100.0}"
export OMNI_CAMERA_DEVICE="${OMNI_CAMERA_DEVICE:-/dev/video0}"
export OMNI_CAMERA_PROFILE="${OMNI_CAMERA_PROFILE:-night}"
export OMNI_CAMERA_BRIGHTNESS="${OMNI_CAMERA_BRIGHTNESS:-}"
export OMNI_CAMERA_CUSTOM_CTRL="${OMNI_CAMERA_CUSTOM_CTRL:-}"
export OMNI_CAMERA_VERIFY="${OMNI_CAMERA_VERIFY:-0}"
export OMNI_GPSD_HOST="${OMNI_GPSD_HOST:-127.0.0.1}"
export OMNI_VIDEO_SERVER_ADDR="${OMNI_VIDEO_SERVER_ADDR:-${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR:-}}"
export OMNI_VIDEO_RELAY_VIA="${OMNI_VIDEO_RELAY_VIA:-${ROBOT_SIDE_OMNISOCKET_RELAY_VIA:-}}"
export OMNI_CONTROL_SERVER_ADDR="${OMNI_CONTROL_SERVER_ADDR:-${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR:-}}"
export OMNI_CONTROL_RELAY_VIA="${OMNI_CONTROL_RELAY_VIA:-${ROBOT_SIDE_OMNISOCKET_RELAY_VIA:-}}"
export OMNI_CONTROL_UNIX_SOCKET_PATH="${OMNI_CONTROL_UNIX_SOCKET_PATH:-${ROBOT_RECEIVER_LOCAL_SOCKET_PATH}}"
export B_SIDE_OMNID_USE_SUDO="${B_SIDE_OMNID_USE_SUDO:-1}"