#!/usr/bin/env bash
# ─────────────────────────────────────────────────────────────────────────────
#  Pudu Map GUI — THE one script.
#
#      ./start.sh              start it + open the browser
#      ./start.sh logs         follow the server log
#      ./start.sh stop         stop it (same as the dashboard's ⏻ Shutdown)
#      ./start.sh restart      stop + start
#      ./start.sh build        rebuild the docker image, then start
#      ./start.sh fg           run attached in this terminal (debugging only)
#
#  Everything runs in docker; the host needs only docker + an X server.
#  Host paths are mounted VERBATIM so every absolute path behaves the same in
#  and out of the container:
#      ~/Robotics_workspace   stage dirs, map editor, relay, rviz configs
#      ~/Downloads            Pudu exports
#      ~/.ssh (read-only)     robot deploys (known_hosts redirected to /tmp)
#      X11 + DISPLAY          RViz + the native file picker
#      --net=host             web GUI on :8777, DDS for the local /map, rosbridge
#
#  DETACHED BY DEFAULT: the dashboard is a service. Also, `docker run -it` can
#  hang forever on a host whose docker attach stream is wedged (seen live on this
#  workstation: create/start/stop fine, every attached run hung) — detached
#  sidesteps that. Use `fg` only when you need the raw attached output.
# ─────────────────────────────────────────────────────────────────────────────
set -euo pipefail
CMD="${1:-start}"
# not in the docker group in THIS shell? re-run the whole script under sg
docker ps >/dev/null 2>&1 || exec sg docker -c "$0 $CMD"

HERE="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
IMG=pudu-map-gui
NAME=pudu-map-gui
PORT=8777
# PUDU_BIND: which address the dashboard listens on. Default localhost-only.
#   PUDU_BIND=10.255.254.83 ./start.sh restart   -> reachable from the LAN
#   PUDU_BIND=0.0.0.0       ./start.sh restart   -> every interface
# The container already runs --net=host, so this is the ONLY thing that decides
# reachability. NO AUTH: anyone who can reach the port can drive the robots.
PUDU_BIND="${PUDU_BIND:-127.0.0.1}"
# health-check a REACHABLE address: 0.0.0.0 is a bind wildcard, not a destination
case "$PUDU_BIND" in
  0.0.0.0|::) HOSTADDR=127.0.0.1 ;;
  *)          HOSTADDR="$PUDU_BIND" ;;
esac
URL="http://$HOSTADDR:$PORT"

_stop() {
  # the GUI's own viewer processes live INSIDE the container, so removing it
  # takes them with it. Robots are never touched by this script.
  if docker rm -f "$NAME" >/dev/null 2>&1; then echo "stopped $NAME"
  else echo "$NAME was not running"; fi
}

case "$CMD" in
  stop)    _stop; exit 0 ;;
  logs)    exec docker logs -f "$NAME" ;;
  restart) _stop ;;
esac

if [ "$CMD" = build ] || ! docker image inspect $IMG >/dev/null 2>&1; then
  echo "== building $IMG (first run takes a few minutes) =="
  docker build -t $IMG "$HERE"
fi

# let the container's root talk to the host X server (RViz / zenity picker)
xhost +local: >/dev/null 2>&1 || true
# a stray host-side instance would hold the port — hand over cleanly
fuser -k "$PORT/tcp" >/dev/null 2>&1 || true
docker rm -f "$NAME" >/dev/null 2>&1 || true

RUN=(docker run --rm --net=host --name "$NAME"
     -e DISPLAY="${DISPLAY:-:0}"
     -e HOME="$HOME"
     -e PUDU_GUI_DIR="$HERE"
     -e PUDU_BIND="$PUDU_BIND"
     -e PUDU_TOKEN="${PUDU_TOKEN:-}"
     -e PUDU_OPEN="${PUDU_OPEN:-}"
     -v /tmp/.X11-unix:/tmp/.X11-unix
     -v "$HOME/Robotics_workspace:$HOME/Robotics_workspace"
     -v "$HOME/Downloads:$HOME/Downloads"
     -v "$HOME/.ssh:$HOME/.ssh:ro")

if [ "$CMD" = fg ]; then                       # attached, for debugging
  TT=(-it); [ -t 0 ] || TT=()
  exec "${RUN[@]}" "${TT[@]}" $IMG
fi

"${RUN[@]}" -d $IMG >/dev/null

# never claim success blindly — wait until the server actually answers
for _ in $(seq 40); do
  if curl -fsS -m 2 -o /dev/null "$URL/" 2>/dev/null; then
    [ "${NOBROWSER:-0}" = 1 ] || (xdg-open "$URL" >/dev/null 2>&1 &) || true
    cat <<EOT

  Pudu Map GUI is up  ->  $URL
    (opened in your browser; if the page looks old, reload with $URL/?v=1)

    logs:  $0 logs      stop:  $0 stop      restart:  $0 restart
    or press  ⏻ Shutdown  in the dashboard header.
EOT
    exit 0
  fi
  docker ps --format '{{.Names}}' | grep -qx "$NAME" || {
    echo "container exited during startup — last log lines:" >&2
    docker logs "$NAME" 2>&1 | tail -20 >&2 || true
    exit 1
  }
  sleep 1
done
echo "started, but $URL did not answer within 40s — check: $0 logs" >&2
exit 1