#!/usr/bin/env bash
# run.sh – Build UDPStreamer and launch the test MARTe2 application.
#
# Usage:
#   ./run.sh              # run MARTe2 app only
#   ./run.sh --webui      # also start the WebUI Go client in the background
#   ./run.sh --help       # show this message
#
# Prerequisites:
#   - marte_env.sh must be present in the repo root (sets MARTe2_DIR, etc.)
#   - MARTe2 and MARTe2-components must already be built
#
# The script resolves all paths relative to the repo root so it can be
# called from any working directory.

set -e

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

# ── Parse arguments ──────────────────────────────────────────────────────────
START_WEBUI=0
for arg in "$@"; do
    case "$arg" in
        --webui) START_WEBUI=1 ;;
        --help|-h)
            sed -n '2,12p' "$0"
            exit 0
            ;;
    esac
done

# ── Load MARTe2 environment ──────────────────────────────────────────────────
ENV_SCRIPT="${REPO_ROOT}/marte_env.sh"
if [ ! -f "${ENV_SCRIPT}" ]; then
    echo "ERROR: ${ENV_SCRIPT} not found." >&2
    exit 1
fi
# shellcheck source=/dev/null
source "${ENV_SCRIPT}"

if [ -z "${MARTe2_DIR}" ]; then
    echo "ERROR: MARTe2_DIR is not set after sourcing marte_env.sh." >&2
    exit 1
fi

# ── Build UDPStreamer ─────────────────────────────────────────────────────────
TARGET=x86-linux
UDPSTREAMER_SRC="${REPO_ROOT}/Source/Components/DataSources/UDPStreamer"
UDPSTREAMER_LIB="${REPO_ROOT}/Build/${TARGET}/Components/DataSources/UDPStreamer"

echo "==> Building UDPStreamer (TARGET=${TARGET})..."
make -C "${UDPSTREAMER_SRC}" \
     -f Makefile.gcc \
     TARGET="${TARGET}" \
     2>&1 | tail -5
echo "==> Build done."

# ── Build WebUI binary (if requested and not already built) ──────────────────
WEBUI_DIR="${REPO_ROOT}/Client/WebUI"
WEBUI_BIN="${WEBUI_DIR}/udpstreamer-webui"
if [ "${START_WEBUI}" -eq 1 ] && [ ! -x "${WEBUI_BIN}" ]; then
    echo "==> Building WebUI..."
    (cd "${WEBUI_DIR}" && go build -o udpstreamer-webui ./...)
    echo "==> WebUI build done."
fi

# ── Set LD_LIBRARY_PATH ───────────────────────────────────────────────────────
COMP="${MARTe2_Components_DIR}/Build/${TARGET}/Components"

export LD_LIBRARY_PATH="\
${UDPSTREAMER_LIB}:\
${MARTe2_DIR}/Build/${TARGET}/Core:\
${COMP}/DataSources/LinuxTimer:\
${COMP}/DataSources/LoggerDataSource:\
${COMP}/GAMs/IOGAM:\
${COMP}/GAMs/WaveformGAM:\
${LD_LIBRARY_PATH}"

echo "==> LD_LIBRARY_PATH=${LD_LIBRARY_PATH}"

# ── Create class-name symlinks for MARTe2 auto-loader ────────────────────────
# MARTe2 looks for <ClassName>.so when a class is not yet registered.
# Some components bundle multiple classes into one .so (e.g. WaveformGAM.so
# contains WaveformSin, WaveformChirp, WaveformPointsDef).  We need symlinks
# so dlopen("<ClassName>.so") succeeds.
WAVEFORM_DIR="${COMP}/GAMs/WaveformGAM"
for cls in WaveformSin WaveformChirp WaveformPointsDef; do
    target="${WAVEFORM_DIR}/${cls}.so"
    if [ ! -e "${target}" ]; then
        ln -sf "${WAVEFORM_DIR}/WaveformGAM.so" "${target}"
    fi
done

# SineArrayGAM is bundled inside UDPStreamer.so; create a symlink so MARTe2
# can dlopen("SineArrayGAM.so") before UDPStreamer has been registered.
SINE_LINK="${UDPSTREAMER_LIB}/SineArrayGAM.so"
if [ ! -e "${SINE_LINK}" ]; then
    ln -sf "${UDPSTREAMER_LIB}/UDPStreamer.so" "${SINE_LINK}"
fi

# ── Optionally start WebUI ────────────────────────────────────────────────────
if [ "${START_WEBUI}" -eq 1 ]; then
    echo "==> Starting WebUI on http://localhost:8080 (streamer at 127.0.0.1:44500)..."
    "${WEBUI_BIN}" \
        --streamer 127.0.0.1:44500 \
        --listen :8080 \
        --clientport 44900 &
    WEBUI_PID=$!
    echo "==> WebUI PID ${WEBUI_PID}"
fi

# ── Launch MARTe2 application ─────────────────────────────────────────────────
MARTE_APP="${MARTe2_DIR}/Build/${TARGET}/App/MARTeApp.ex"
CFG="${SCRIPT_DIR}/TestApp.cfg"

if [ ! -x "${MARTE_APP}" ]; then
    echo "ERROR: MARTeApp.ex not found at ${MARTE_APP}" >&2
    exit 1
fi

echo "==> Starting MARTe2 application (state=Running, 100 Hz)..."
echo "==> Press Ctrl+C to stop."
echo ""

cleanup() {
    echo ""
    echo "==> Stopping..."
    if [ "${START_WEBUI}" -eq 1 ] && kill -0 "${WEBUI_PID}" 2>/dev/null; then
        kill "${WEBUI_PID}"
    fi
}
trap cleanup EXIT INT TERM

"${MARTE_APP}" \
    -l RealTimeLoader \
    -f "${CFG}" \
    -s Running