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

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

failed=0

check_empty_relay() {
  local name="$1"
  local value="${!name:-}"
  if [[ -n "${value}" ]]; then
    echo "[FAIL] ${name} must be empty, got: ${value}" >&2
    failed=1
  else
    echo "[ OK ] ${name}=<disabled>"
  fi
}

check_camera() {
  local name="$1"
  local device="$2"
  if [[ -e "${device}" ]]; then
    echo "[ OK ] ${name} camera: ${device} -> $(readlink -f "${device}")"
  else
    echo "[FAIL] ${name} camera is missing: ${device}" >&2
    failed=1
  fi
}

echo "Robot video target: ${OMNI_VIDEO_SERVER_ADDR}"
echo "Robot control target: ${OMNI_CONTROL_SERVER_ADDR}"
check_empty_relay ROBOT_SIDE_OMNISOCKET_RELAY_VIA
check_empty_relay OMNI_VIDEO_RELAY_VIA
check_empty_relay OMNI_CONTROL_RELAY_VIA
check_camera head "${OMNI_CAMERA_HEAD_DEVICE}"
check_camera waist "${OMNI_CAMERA_WAIST_DEVICE}"

if pkg-config --exists libavformat libavcodec libavutil libswscale; then
  echo "[ OK ] FFmpeg development libraries"
else
  echo "[FAIL] FFmpeg development libraries are missing" >&2
  failed=1
fi

if [[ -x "${PROJECT_ROOT}/bin/b_side_omnid" ]]; then
  echo "[ OK ] bin/b_side_omnid is built"
else
  echo "[WARN] bin/b_side_omnid is not built; run: make b_side_omnid"
fi

server_host="${OMNI_VIDEO_SERVER_ADDR%:*}"
if command -v ping >/dev/null 2>&1 && ping -c 1 -W 1 "${server_host}" >/dev/null 2>&1; then
  echo "[ OK ] computer is reachable: ${server_host}"
else
  echo "[WARN] cannot ping ${server_host}; verify the direct Ethernet addresses"
fi

exit "${failed}"