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

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

STEP="ros-receiver"
SOCKET_PATH=""
TIMEOUT_SEC=""

while [[ $# -gt 0 ]]; do
  case "$1" in
    --path)
      SOCKET_PATH="$2"
      shift 2
      ;;
    --timeout)
      TIMEOUT_SEC="$2"
      shift 2
      ;;
    --step)
      STEP="$2"
      shift 2
      ;;
    *)
      blitz_log "${STEP}" "wait-socket-arg" "failure" "unknown argument: $1" 2
      exit 2
      ;;
  esac
done

blitz_load_boot_env

SOCKET_PATH="${SOCKET_PATH:-${ROBOT_RECEIVER_LOCAL_SOCKET_PATH}}"
TIMEOUT_SEC="${TIMEOUT_SEC:-${BLITZ_ROS_SOCKET_WAIT_SEC}}"

blitz_log "${STEP}" "wait-socket" "start" "path=${SOCKET_PATH} timeout_sec=${TIMEOUT_SEC}" 0

for (( waited=0; waited< TIMEOUT_SEC; waited++ )); do
  if [[ -S "${SOCKET_PATH}" ]]; then
    blitz_log "${STEP}" "wait-socket" "success" "path=${SOCKET_PATH} waited_sec=${waited}" 0
    exit 0
  fi
  sleep 1
done

blitz_log "${STEP}" "wait-socket" "failure" "path=${SOCKET_PATH} timeout_sec=${TIMEOUT_SEC}" 1
exit 1