#!/usr/bin/env bash
# Create/refresh the 'welcome' conda env and install GoWelcome's Python deps.
#
#   ./requirement.sh
#
# Installs the off-robot / mock dependencies (numpy, opencv, ultralytics,
# simpleaudio). The real Go2 additionally needs the Unitree SDK (hardware only)
# -- see the note printed at the end.
set -euo pipefail

ENV_NAME="welcome"
PY_VERSION="3.10"
# Resolve this script's own directory so it works from any CWD.
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"

# --- locate conda --------------------------------------------------------
if ! command -v conda >/dev/null 2>&1; then
  for c in "$HOME/miniconda3" "$HOME/anaconda3" "$HOME/miniforge3" "/opt/conda"; do
    if [ -f "$c/etc/profile.d/conda.sh" ]; then
      # shellcheck disable=SC1091
      source "$c/etc/profile.d/conda.sh"
      break
    fi
  done
fi
command -v conda >/dev/null 2>&1 || {
  echo "ERROR: conda not found. Install Miniconda/Anaconda first." >&2
  exit 1
}
# shellcheck disable=SC1091
source "$(conda info --base)/etc/profile.d/conda.sh"

# --- create env if missing ----------------------------------------------
if conda env list | awk '{print $1}' | grep -qx "$ENV_NAME"; then
  echo "[requirement] conda env '$ENV_NAME' already exists -- reusing it."
else
  echo "[requirement] creating conda env '$ENV_NAME' (python $PY_VERSION)..."
  conda create -y -n "$ENV_NAME" "python=$PY_VERSION"
fi

conda activate "$ENV_NAME"
echo "[requirement] using $(python --version) @ $(command -v python)"

# --- install python deps -------------------------------------------------
python -m pip install --upgrade pip
python -m pip install -r "$SCRIPT_DIR/requirements.txt"

echo
echo "[requirement] done. Off-robot/mock deps installed in conda env '$ENV_NAME'."
echo "[requirement] For a REAL Go2, also install the Unitree SDK (hardware only):"
echo "    git clone https://github.com/unitreerobotics/unitree_sdk2_python"
echo "    cd unitree_sdk2_python && pip install -e .   # pulls in cyclonedds"
echo
echo "[requirement] Verify the install (real YOLO, no robot needed):"
echo "    python \"$SCRIPT_DIR/scripts/smoke_test.py\""
echo
echo "[requirement] Start GoWelcome with:"
echo "    ./welcome.sh                     # mock / webcam (no robot)"
echo "    ./welcome.sh --interface eth0    # real Go2 over eth0"