#!/usr/bin/env bash
# run_debugtest.sh — Launch a small MARTe2 app under DebugService + the web debugger
#
# Usage:
#   ./run_debugtest.sh [OPTIONS]
#
# Options:
#   -m <MARTe2_DIR>              Override MARTe2 installation dir (default: $MARTe2_DIR)
#   -c <MARTe2_Components_DIR>   Override MARTe2-components dir (default: $MARTe2_Components_DIR)
#   -b <BUILD_TARGET>            Build target (default: x86-linux)
#   -f <CFG>                     MARTe2 config (default: Test/Configurations/debug_test.cfg)
#   -t <STATE>                   RealTimeState to start in (default: State1)
#   -p <PORT>                    Debugger web UI port (default: 7777)
#   -S                           Safe mode: do NOT allow FORCE/PAUSE/RESUME/STEP/BREAK
#                                from the browser (they are enabled by default here,
#                                since exercising them is the point of this script)
#   -s                           Skip building — run with whatever is already built
#   -h                           Show this help
#
# What it runs:
#   MARTeApp.ex  with debug_test.cfg — three RT threads over a LinuxTimer:
#                GAM1 (1 kHz counter/time), GAM2 (1 Hz + a ConstantGAM float),
#                GAM3 (100-sample block), plus a +DebugService object.
#   Client/debugger (Go) — serves the browser debugger; the page connects to the
#                app's control port itself, so the app can be restarted underneath it.
#
# Ports used:
#   8080/tcp    DebugService control  (text commands)
#   8081/udp    DebugService trace telemetry
#   8082/tcp    TcpLogger             (auto-injected by DebugService)
#   7777/tcp    Debugger web UI       (default, override with -p)
#   The three DebugService ports come from the config file, not from this script.
#
# Environment:
#   MARTe2_DIR             must be set (or passed via -m)
#   MARTe2_Components_DIR  must be set (or passed via -c)

set -euo pipefail

SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
BUILD_TARGET="${TARGET:-x86-linux}"
MARTe_CFG="${SCRIPT_DIR}/Test/Configurations/debug_test.cfg"
MARTe_STATE="State1"
UI_PORT=7777
DANGEROUS=1
SKIP_BUILD=0

# ── Parse arguments ───────────────────────────────────────────────────────────
while getopts "m:c:b:f:t:p:Ssh" opt; do
    case "$opt" in
        m) MARTe2_DIR="$OPTARG" ;;
        c) MARTe2_Components_DIR="$OPTARG" ;;
        b) BUILD_TARGET="$OPTARG" ;;
        f) MARTe_CFG="$OPTARG" ;;
        t) MARTe_STATE="$OPTARG" ;;
        p) UI_PORT="$OPTARG" ;;
        S) DANGEROUS=0 ;;
        s) SKIP_BUILD=1 ;;
        h)
            sed -n '2,40p' "$0" | grep '^#' | sed 's/^# \?//'
            exit 0
            ;;
        *) echo "Unknown option: -$OPTARG" >&2; exit 1 ;;
    esac
done

# ── Validate environment ──────────────────────────────────────────────────────
if [[ -z "${MARTe2_DIR:-}" ]]; then
    echo "ERROR: MARTe2_DIR is not set. Source env.sh first or pass -m <dir>."
    echo "  source ${SCRIPT_DIR}/env.sh"
    exit 1
fi
if [[ -z "${MARTe2_Components_DIR:-}" ]]; then
    echo "ERROR: MARTe2_Components_DIR is not set. Source env.sh first or pass -c <dir>."
    exit 1
fi
if [[ ! -f "$MARTe_CFG" ]]; then
    echo "ERROR: MARTe2 config not found: ${MARTe_CFG}"
    exit 1
fi

BUILD_DIR="${SCRIPT_DIR}/Build/${BUILD_TARGET}"
COMP_DIR="${MARTe2_Components_DIR}/Build/${BUILD_TARGET}/Components"
DEBUGGER_DIR="${SCRIPT_DIR}/Client/debugger"
DEBUGGER_BIN="${DEBUGGER_DIR}/marte2debugger"

MARTE2_BIN="${MARTe2_DIR}/Build/${BUILD_TARGET}/App/MARTeApp.ex"
if [[ ! -x "$MARTE2_BIN" ]]; then
    echo "ERROR: MARTeApp.ex not found at ${MARTe2_DIR}/Build/${BUILD_TARGET}/App/"
    exit 1
fi

# The DebugService ports live in the config, so read them back rather than
# printing numbers this script does not actually control.
cfg_port() {
    grep -E "^[[:space:]]*$1[[:space:]]*=" "$MARTe_CFG" \
        | head -1 | tr -d ' \t' | cut -d= -f2 || true
}
CTRL_PORT="$(cfg_port ControlPort)"; CTRL_PORT="${CTRL_PORT:-8080}"
UDP_PORT="$(cfg_port UdpPort)";      UDP_PORT="${UDP_PORT:-8081}"
LOG_PORT="$(cfg_port LogPort)";      LOG_PORT="${LOG_PORT:-8082}"

# ── Build ─────────────────────────────────────────────────────────────────────
if [[ "$SKIP_BUILD" -eq 0 ]]; then
    echo "==> Building MARTe2 components (TARGET=${BUILD_TARGET})..."
    make -C "${SCRIPT_DIR}" -f Makefile.gcc core TARGET="${BUILD_TARGET}" 2>&1 | tail -5

    echo "==> Building debugger client..."
    (cd "${DEBUGGER_DIR}" && go build -o marte2debugger .)

    echo "==> Build done."
fi

if [[ ! -x "$DEBUGGER_BIN" ]]; then
    echo "ERROR: debugger client not found: ${DEBUGGER_BIN}"
    echo "  Build it with: cd Client/debugger && go build -o marte2debugger ."
    exit 1
fi

# ── Library path ──────────────────────────────────────────────────────────────
# DebugService pulls in TCPLogger and UDPStream; everything the config names
# beyond MARTe2 core (LinuxTimer, RealTimeThreadSynchronisation,
# LoggerDataSource, IOGAM, ConstantGAM) is dlopen'd from MARTe2-components.
export LD_LIBRARY_PATH="\
${MARTe2_DIR}/Build/${BUILD_TARGET}/Core:\
${BUILD_DIR}/Components/Interfaces/DebugService:\
${BUILD_DIR}/Components/Interfaces/TCPLogger:\
${BUILD_DIR}/Components/Interfaces/UDPStream:\
${COMP_DIR}/DataSources/LinuxTimer:\
${COMP_DIR}/DataSources/RealTimeThreadSynchronisation:\
${COMP_DIR}/DataSources/LoggerDataSource:\
${COMP_DIR}/GAMs/IOGAM:\
${COMP_DIR}/GAMs/ConstantGAM:\
${LD_LIBRARY_PATH:-}"

# ── Cleanup handler ───────────────────────────────────────────────────────────
MARTE_PID=""
UI_PID=""

cleanup() {
    echo ""
    echo "==> Shutting down..."
    [[ -n "$UI_PID"    ]] && kill "$UI_PID"    2>/dev/null || true
    [[ -n "$MARTE_PID" ]] && kill "$MARTE_PID" 2>/dev/null || true
    wait "$UI_PID"    2>/dev/null || true
    wait "$MARTE_PID" 2>/dev/null || true
    echo "==> Done."
}
trap cleanup EXIT INT TERM

# ── Launch MARTe2 ─────────────────────────────────────────────────────────────
echo ""
echo "==> Launching MARTe2 under DebugService..."
echo "    Binary : ${MARTE2_BIN}"
echo "    Config : ${MARTe_CFG}"
echo "    State  : ${MARTe_STATE}"
echo ""

"${MARTE2_BIN}" \
    -l RealTimeLoader \
    -f "${MARTe_CFG}" \
    -s "${MARTe_STATE}" &
MARTE_PID="$!"

# Give the app time to reach the state and bind the DebugService control port.
sleep 1
if ! kill -0 "$MARTE_PID" 2>/dev/null; then
    echo "ERROR: MARTe2 exited during startup — see the log above."
    exit 1
fi

# ── Launch the debugger web client ────────────────────────────────────────────
echo "==> Launching debugger client (:${UI_PORT})..."
DANGEROUS_FLAG=()
if [[ "$DANGEROUS" -eq 1 ]]; then
    DANGEROUS_FLAG=(-enable-dangerous-commands)
fi

"${DEBUGGER_BIN}" -addr ":${UI_PORT}" "${DANGEROUS_FLAG[@]}" &
UI_PID="$!"

sleep 0.5

# ── Status ────────────────────────────────────────────────────────────────────
echo ""
echo "    MARTe2 PID    : ${MARTE_PID}"
echo "    Debugger PID  : ${UI_PID}"
echo ""
echo "    Debugger UI   : http://localhost:${UI_PORT}/"
echo "    DebugService  : control tcp/${CTRL_PORT}, trace udp/${UDP_PORT}, log tcp/${LOG_PORT}"
if [[ "$DANGEROUS" -eq 1 ]]; then
    echo "    FORCE/PAUSE/RESUME/STEP/BREAK: enabled (pass -S to disable)"
else
    echo "    FORCE/PAUSE/RESUME/STEP/BREAK: disabled (-S)"
fi
echo ""
echo "    In the browser, press Connect (defaults to 127.0.0.1:${CTRL_PORT}),"
echo "    then Discover to list the app's GAMs and signals."
echo ""
echo "    Press Ctrl-C to stop both processes."
echo ""

# ── Wait until either child exits ─────────────────────────────────────────────
wait -n "${MARTE_PID}" "${UI_PID}" 2>/dev/null || true
echo "==> A process exited — stopping the other."