#!/usr/bin/env bash
# Container entrypoint for SanadR1. Waits for the robot link (eth10) to be UP with
# its 192.168.123.x address before launching, so the single per-process DDS init
# (arm.init → ChannelFactoryInitialize) binds the right interface. Mirrors the
# conda start_sanad.sh eth10 wait; without it, on a cold robot boot the process
# would init DDS on a not-yet-ready iface and silently run hardware-dead.
set -u

IFACE="${SANAD_DDS_INTERFACE:-eth10}"
PORT="${PORT:-8001}"

echo "[entrypoint] waiting up to 25s for ${IFACE} to be UP with a 192.168.123.x IP…"
for i in $(seq 1 25); do
  if ip link show "$IFACE" 2>/dev/null | grep -q "state UP" \
     && ip -4 -o addr show "$IFACE" 2>/dev/null | grep -q "192.168.123."; then
    echo "[entrypoint] ${IFACE} ready: $(ip -4 -o addr show "$IFACE" | awk '{print $4}')"
    break
  fi
  sleep 1
done
if ! ip link show "$IFACE" 2>/dev/null | grep -q "state UP"; then
  echo "[entrypoint] WARNING: ${IFACE} not UP after 25s — launching anyway; robot DDS (arm/loco/audio) may be unavailable this session" >&2
fi

# ── audio path ───────────────────────────────────────────────────────────────
# If a USB audio device was passed in (--device /dev/snd), run as the non-root
# 'sanad' user with a per-user PulseAudio so the JBL/Anker-style device profiles
# work (Sanad refuses to touch audio as root). Otherwise keep the original root
# path — the R1's DDS chest speaker + UDP mic need no local sound stack.
if [ -e /dev/snd ]; then
  export XDG_RUNTIME_DIR=/run/user/1000
  # Volumes mount root-owned; hand them + the runtime dir to the app user.
  chown -R sanad:sanad /opt/SanadR1/data /opt/SanadR1/logs "$XDG_RUNTIME_DIR" 2>/dev/null || true
  [ -s /etc/machine-id ] || tr -d - < /proc/sys/kernel/random/uuid > /etc/machine-id 2>/dev/null || true
  echo "[entrypoint] /dev/snd present — starting PulseAudio (USB audio mode)"
  setpriv --reuid sanad --regid sanad --init-groups \
    env XDG_RUNTIME_DIR="$XDG_RUNTIME_DIR" HOME=/home/sanad \
    pulseaudio --start --exit-idle-time=-1 >/dev/null 2>&1 \
    || echo "[entrypoint] WARNING: PulseAudio failed to start" >&2
  # udev doesn't run in the container, so PulseAudio's udev-detect finds no
  # cards. Load each USB ALSA card BY NAME (skip the Jetson built-in HDA/APE) so
  # its sink/source are named for the device — that's what the Anker/JBL-style
  # device profiles match on (e.g. alsa_output.PowerConf.analog-stereo).
  sleep 1
  for _card in $(aplay -l 2>/dev/null | sed -n 's/^card [0-9][0-9]*: \([A-Za-z0-9_]*\) .*/\1/p' | sort -u); do
    case "$_card" in
      HDA|APE|"") : ;;
      *) echo "[entrypoint] loading USB audio card: ${_card}"
         setpriv --reuid sanad --regid sanad --init-groups \
           env XDG_RUNTIME_DIR="$XDG_RUNTIME_DIR" \
           pactl load-module module-alsa-card device_id="${_card}" >/dev/null 2>&1 || true ;;
    esac
  done
  echo "[entrypoint] launching main.py --port ${PORT} as user 'sanad'"
  exec setpriv --reuid sanad --regid sanad --init-groups \
    env XDG_RUNTIME_DIR="$XDG_RUNTIME_DIR" HOME=/home/sanad \
    python3 main.py --port "${PORT}"
else
  echo "[entrypoint] no /dev/snd — DDS audio only; launching main.py --port ${PORT} as root"
  exec python3 main.py --port "${PORT}"
fi