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

export DISPLAY="${DISPLAY:-:0}"
export XDG_RUNTIME_DIR="${XDG_RUNTIME_DIR:-/run/user/$(id -u)}"
export DBUS_SESSION_BUS_ADDRESS="${DBUS_SESSION_BUS_ADDRESS:-unix:path=${XDG_RUNTIME_DIR}/bus}"

repo_root="$HOME/go2_robot_system"
runtime_env="$repo_root/scripts/go2_os_runtime.env"
dashboard_env="$repo_root/go2_dashboard/config/dashboard.env"

if [[ -f "$dashboard_env" ]]; then
  set -a
  # shellcheck disable=SC1090
  source "$dashboard_env"
  set +a
fi

export GO2_OS_ROLE=dashboard
unset GO2_OS_ROS_IFACE

# Load local interface defaults without forcing DDS setup yet. The dashboard must
# stay visible while the robot link is unplugged; motion remains blocked below.
if [[ -f "$runtime_env" ]]; then
  # shellcheck disable=SC1090
  source "$runtime_env"
fi

selected_ros_iface="${GO2_OS_DASHBOARD_IFACE:-${GO2_OS_NAV_IFACE:-${GO2_OS_WIRED_IFACE:-ens160}}}"
iface_state="$(cat "/sys/class/net/${selected_ros_iface}/operstate" 2>/dev/null || true)"
iface_carrier="$(cat "/sys/class/net/${selected_ros_iface}/carrier" 2>/dev/null || true)"
iface_ipv4="$(ip -4 -o addr show dev "${selected_ros_iface}" 2>/dev/null | awk '{print $4}' | cut -d/ -f1 | head -n 1)"
if [[ "${iface_state}" == "up" && "${iface_carrier:-1}" == "1" && -n "${iface_ipv4}" ]]; then
  # shellcheck disable=SC1091
  source "$repo_root/scripts/go2_os_env.sh"
else
  blocking_error="wired_required:${selected_ros_iface}:state=${iface_state:-unknown} carrier=${iface_carrier:-n/a} ipv4=${iface_ipv4:-none}"
  export GO2_OS_NETWORK_BLOCKING_ERROR="$blocking_error"
  export OPEN_SOURCE_DASHBOARD_NETWORK_BLOCKING_ERROR="$blocking_error"
  export OPEN_SOURCE_DASHBOARD_ROS_IFACE="$selected_ros_iface"
  export OPEN_SOURCE_DASHBOARD_NETWORK_SELECTED_IFACE="$selected_ros_iface"
  export GO2_OS_ROS_IFACE="$selected_ros_iface"
  export GO2_OS_TRANSPORT_POLICY="wired_required"
  export GO2_OS_SELECTED_IFACE_REASON="$blocking_error"
  export GO2_OS_FALLBACK_ACTIVE=0
  export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
  export CYCLONEDDS_URI="<CycloneDDS><Domain><General><AllowMulticast>false</AllowMulticast></General></Domain></CycloneDDS>"
  # shellcheck disable=SC1091
  source /opt/ros/humble/setup.bash
  if [[ -f "${GO2_OS_UNITREE_SETUP:-$HOME/unitree_ros2/cyclonedds_ws/install/setup.bash}" ]]; then
    # shellcheck disable=SC1090
    source "${GO2_OS_UNITREE_SETUP:-$HOME/unitree_ros2/cyclonedds_ws/install/setup.bash}"
  fi
  if [[ -f "$repo_root/install/setup.bash" ]]; then
    # shellcheck disable=SC1090
    source "$repo_root/install/setup.bash"
  fi
fi
requested_ros_iface="${GO2_OS_DASHBOARD_IFACE:-${GO2_OS_NAV_IFACE:-${GO2_OS_WIRELESS_IFACE:-ens192}}}"
requested_dds_peers="${GO2_DDS_PEERS:-${GO2_OS_DASHBOARD_PEERS:-${GO2_OS_NAV_PEERS:-${GO2_OS_DDS_PEERS:-}}}}"
selected_ros_iface="${GO2_OS_ROS_IFACE}"
selection_reason="${GO2_OS_SELECTED_IFACE_REASON:-}"
blocking_error="${GO2_OS_NETWORK_BLOCKING_ERROR:-${blocking_error:-}}"
warning_message=""
if [[ "${GO2_OS_FALLBACK_ACTIVE:-0}" == "1" ]]; then
  warning_message="${selection_reason}"
fi

export OPEN_SOURCE_DASHBOARD_REQUESTED_ROS_IFACE="$requested_ros_iface"
export OPEN_SOURCE_DASHBOARD_ROS_IFACE="$selected_ros_iface"
export OPEN_SOURCE_DASHBOARD_DDS_PEERS="$requested_dds_peers"
export OPEN_SOURCE_DASHBOARD_NETWORK_WARNING="$warning_message"
export OPEN_SOURCE_DASHBOARD_NETWORK_POLICY="${GO2_OS_TRANSPORT_POLICY:-dashboard}"
if [[ "${GO2_OS_TRANSPORT_POLICY:-}" == "wired_required" ]]; then
  network_primary_iface="${GO2_OS_WIRED_IFACE:-ens160}"
  network_fallback_iface=""
else
  network_primary_iface="${GO2_OS_WIRELESS_IFACE:-ens192}"
  network_fallback_iface="${GO2_OS_WIRED_IFACE:-ens160}"
fi
export OPEN_SOURCE_DASHBOARD_NETWORK_PRIMARY_IFACE="$network_primary_iface"
export OPEN_SOURCE_DASHBOARD_NETWORK_FALLBACK_IFACE="$network_fallback_iface"
export OPEN_SOURCE_DASHBOARD_NETWORK_SELECTED_IFACE="$selected_ros_iface"
export OPEN_SOURCE_DASHBOARD_NETWORK_SELECTION_REASON="$selection_reason"
export OPEN_SOURCE_DASHBOARD_NETWORK_BLOCKING_ERROR="$blocking_error"
export OPEN_SOURCE_DASHBOARD_NETWORK_FALLBACK_ACTIVE="${GO2_OS_FALLBACK_ACTIVE:-0}"

cd "$repo_root"

exec python3 go2_dashboard/server.py \
  --host 0.0.0.0 \
  --port "${OPEN_SOURCE_DASHBOARD_PORT:-8090}" \
  --repo-root "$repo_root" \
  --map-yaml "$HOME/go2_maps/competition_map.yaml" \
  --camera-iface "${GO2_CAMERA_IFACE:-$selected_ros_iface}" \
  --nav-log-dir "$repo_root/log/go2_nav" \
  --pose-config "$repo_root/go2_dashboard/config/pose_pipeline.json" \
  --waypoint-action-config "$repo_root/go2_dashboard/config/waypoint_action.json"