#!/usr/bin/env bash
# One command, the same on every Jetson: installs the Ithaca capture node from this
# checkout. Detects the platform, installs dependencies, builds the C++ against a
# locally-built OrbbecSDK, generates a config and a service for the CURRENT user,
# and starts the bridge.
#
# Idempotent: safe to re-run after a git pull. It rebuilds the server, rewrites the
# config and unit, and restarts the service; it does not touch a working SDK build.
#
# Why a script and not a prebuilt image: the two Jetsons here have no common
# JetPack — tegra210 caps at 4, tegra234 needs 5+ — so nothing binary is portable
# between them. The source and this procedure are; the binaries are made locally.
set -euo pipefail

REPO=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
USER_NAME=$(id -un)
HOME_DIR="$HOME"

echo "=============================================================="
echo " Ithaca node install"
eval "$("$REPO/scripts/detect_platform.sh")"
echo "   modele  : $MODEL"
echo "   L4T     : $L4T   (JetPack $JETPACK, $SOC, $ARCH)"
echo "   user    : $USER_NAME   home: $HOME_DIR"
echo "   repo    : $REPO"
echo "=============================================================="

if [[ "$ARCH" != "aarch64" ]]; then
    echo "!! Cette install vise les Jetson (aarch64). Arch detectee: $ARCH." >&2
    echo "!! Continue quand meme dans 3 s (Ctrl-C pour arreter)…" >&2
    sleep 3
fi

# ---- 1. dependencies ------------------------------------------------------
"$REPO/scripts/install_deps.sh"

# ---- 2. the SDK, then the server ------------------------------------------
# build_sdk.sh reuses an existing build (leaving a working node untouched) or
# builds one; build_server.sh compiles ithaca_rgbd_server against it.
echo ">> Localisation / compilation de l'OrbbecSDK…"
eval "$("$REPO/scripts/build_sdk.sh")"
echo "   OB_SDK_ROOT  = $OB_SDK_ROOT"
echo "   OB_SDK_BUILD = $OB_SDK_BUILD"

echo ">> Compilation du serveur de preview…"
SERVER_BIN=$("$REPO/scripts/build_server.sh")
echo "   $SERVER_BIN"

# ---- 3. config, generated for this user -----------------------------------
# The tested bridge.py ships unchanged; portability lives here, in the config it
# reads. @PLACEHOLDERS@ become real paths for the current user.
CONFIG="$REPO/bridge/config.json"
if [[ -f "$CONFIG" ]]; then
    echo ">> config.json existe deja — conserve (supprime-le pour regenerer)."
else
    sed -e "s#@HOME@#$HOME_DIR#g" \
        -e "s#@REPO@#$REPO#g" \
        -e "s#@SDK_BUILD@#$OB_SDK_BUILD#g" \
        "$REPO/bridge/config.template.json" > "$CONFIG"
    echo ">> config.json genere: $CONFIG"
fi
mkdir -p "$HOME_DIR/IthacaRecordings"

# ---- 4. udev + usbfs (need root, affect the whole machine) ----------------
echo ">> Regles udev (acces camera sans root) + usbfs_memory…"
# Prefer the SDK's own installer when it is there — it is the maintained source of
# the rule set; fall back to the copy shipped here.
if [[ -x "$OB_SDK_ROOT/scripts/env_setup/install_udev_rules.sh" ]]; then
    sudo bash "$OB_SDK_ROOT/scripts/env_setup/install_udev_rules.sh" || true
else
    sudo install -m 0644 "$REPO/udev/99-obsensor-libusb.rules" \
        /etc/udev/rules.d/99-obsensor-libusb.rules
fi
sudo udevadm control --reload-rules && sudo udevadm trigger || true

sudo install -m 0644 "$REPO/systemd/usbfs-memory.service" \
    /etc/systemd/system/usbfs-memory.service

# So the camera is reachable without being root right now, not only after a
# reboot: the video group is what the udev rules grant to.
sudo usermod -aG video "$USER_NAME" || true

# ---- 5. the bridge service, generated for this user -----------------------
UNIT=/etc/systemd/system/ithaca-bridge.service
sudo sed -e "s#@REPO@#$REPO#g" -e "s#@USER@#$USER_NAME#g" \
    "$REPO/systemd/ithaca-bridge.service.in" | sudo tee "$UNIT" >/dev/null

sudo systemctl daemon-reload
sudo systemctl enable --now usbfs-memory.service
sudo systemctl enable ithaca-bridge.service
sudo systemctl restart ithaca-bridge.service

echo "=============================================================="
echo " Installe. Etat du bridge :"
systemctl is-active ithaca-bridge.service || true
echo
echo " Journal en direct :  journalctl -u ithaca-bridge -f"
echo " Si la camera n'est vue qu'apres reconnexion USB, c'est le"
echo " groupe 'video' qui vient d'etre ajoute — deconnecte/reconnecte"
echo " la session, ou rebranche la camera."
echo "=============================================================="