#!/usr/bin/env bash
# Assemble the build context (pull unitree_sdk2 + CycloneDDS from this robot) and
# build the self-contained image. Run ON the robot (aarch64).
#   ./docker/build_image.sh
set -euo pipefail

HERE="$(cd "$(dirname "$0")" && pwd)"     # .../DFX_inspire_service/docker
REPO="$(dirname "$HERE")"                 # .../DFX_inspire_service
SDK="${UNITREE_SDK2_DIR:-$HOME/unitree_sdk2}"
CTX="$HERE/.ctx"
IMG="${IMG:-inspire-hand:latest}"

[ -f "$SDK/lib/aarch64/libunitree_sdk2.a" ] || { echo "ERROR: unitree_sdk2 not at $SDK"; exit 1; }

echo ">> assembling build context in $CTX"
rm -rf "$CTX"
mkdir -p "$CTX/deps/usr_local_include" "$CTX/deps/usr_local_lib" "$CTX/deps/unitree_sdk2" "$CTX/app"

# unitree_sdk2 headers + static lib
cp -r "$SDK/include" "$CTX/deps/unitree_sdk2/"
cp -r "$SDK/lib"     "$CTX/deps/unitree_sdk2/"

# CycloneDDS headers: C (dds, ddsc), C++ (ddscxx) and iceoryx
for d in dds ddsc ddscxx iceoryx; do cp -r "/usr/local/include/$d" "$CTX/deps/usr_local_include/"; done

# The IDL headers (idl/, idlc/) are needed ONLY by the python binding: pip building
# cyclonedds compiles a _idlpy extension against idl/retcode.h, and `make install` of the
# C++ side does not put them in /usr/local/include. Without them the image build dies at
#   idlpy/src/context.h:17: fatal error: idl/retcode.h: No such file or directory
# CYCLONEDDS_SRC points at the checkout whose install/ prefix has them (0.10.5 here).
CDDS_SRC="${CYCLONEDDS_SRC:-$HOME/cyclonedds}"
for d in idl idlc; do
  if   [ -d "/usr/local/include/$d" ];          then cp -r "/usr/local/include/$d" "$CTX/deps/usr_local_include/"
  elif [ -d "$CDDS_SRC/install/include/$d" ];   then cp -r "$CDDS_SRC/install/include/$d" "$CTX/deps/usr_local_include/"
  fi
done
# CycloneDDS shared runtime libs
cp -P /usr/local/lib/libddsc* /usr/local/lib/libddscxx* \
      /usr/local/lib/libcyclonedds* /usr/local/lib/libdds_security_* \
      "$CTX/deps/usr_local_lib/" 2>/dev/null || true

# The app, with web/ split into its own context dir. The Dockerfile copies web/ AFTER the
# C++ build, so editing the dashboard rebuilds in seconds instead of recompiling every
# binary — and the dashboard is what changes most often.
rsync -a --exclude 'build/' --exclude 'docker/.ctx/' --exclude 'web/' "$REPO/" "$CTX/app/"
rsync -a "$REPO/web/" "$CTX/app_web/"
cp "$HERE/Dockerfile" "$CTX/Dockerfile"

# ---- recorder for the dashboard's Record/Replay panel ---------------------------------
# The panel runs g1_record_replay.py as a CHILD PROCESS, so the script and a python that
# can import unitree_sdk2py both have to be inside the image. Both dirs are always created
# (empty is fine) because the Dockerfile COPYs them unconditionally — with an empty one the
# image still builds and the panel simply reports "recorder not found".
# Both live IN this project (recorder/ and vendor/), so a clean checkout builds a complete
# image with no environment set and nothing fetched from elsewhere on the machine. The env
# vars remain as overrides for anyone pointing at their own working copy.
REC="${RECORDER_SRC:-$REPO/recorder}"
SDKPY="${UNITREE_SDK2PY_DIR:-$REPO/vendor/unitree_sdk2_python}"
mkdir -p "$CTX/deps/recorder/seed" "$CTX/deps/unitree_sdk2_python"
if [ -f "$REC/g1_record_replay.py" ] && [ -f "$SDKPY/setup.py" ]; then
  cp "$REC/g1_record_replay.py" "$CTX/deps/recorder/"
  # The home pose is seeded rather than shipped in DataG1/, because run.sh bind-mounts
  # DataG1 over the top and would hide anything baked there.
  for h in "$REC/arm_home.jsonl" "$REC/DataG1/arm_home.jsonl"; do
    [ -f "$h" ] && { cp "$h" "$CTX/deps/recorder/seed/"; break; }
  done
  rsync -a --exclude '.git/' --exclude '*.egg-info/' "$SDKPY/" "$CTX/deps/unitree_sdk2_python/"
  echo ">> recorder included: $REC  +  unitree_sdk2py: $SDKPY"
else
  echo ">> NOTE: record/replay panel will be DISABLED in this image."
  [ -f "$REC/g1_record_replay.py" ] || echo "   missing $REC/g1_record_replay.py   (set RECORDER_SRC)"
  [ -f "$SDKPY/setup.py" ]          || echo "   missing $SDKPY/setup.py            (set UNITREE_SDK2PY_DIR)"
fi

echo ">> docker build -t $IMG (this compiles the binaries in-image; takes a few min)"
cd "$CTX"
docker build -t "$IMG" .
rm -rf "$CTX"
echo ">> done: $IMG"
echo "   run with: $REPO/docker/run.sh"