#!/usr/bin/env bash

IQ_C3_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
DIR="$( cd "$IQ_C3_DIR/../../../.." >/dev/null 2>&1 && pwd )"

export HOME="${HOME:-/home/comma}"
export IQPILOT_PROPRIETARY_ROOT="$DIR/artifacts"
source "$IQ_C3_DIR/launch_env.sh"

function agnos_version_allowed {
  local current_version="$1"
  local expected_version="$2"
  local compat_version

  if [ "$current_version" = "$expected_version" ] || [[ "$current_version" = "$expected_version"-* ]]; then
    return 0
  fi

  IFS=',' read -r -a compat_versions <<< "${AGNOS_COMPAT_VERSIONS:-}"
  for compat_version in "${compat_versions[@]}"; do
    compat_version="${compat_version// /}"
    if [ -n "$compat_version" ] && [ "$current_version" = "$compat_version" ]; then
      return 0
    fi
  done

  return 1
}

function agnos_init {
  # TODO: move this to agnos
  sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta

  # set success flag for current boot slot
  sudo abctl --set_success

  # TODO: do this without udev in AGNOS
  # udev does this, but sometimes we startup faster
  sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
  sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0

  # iptables-nft fails on this kernel (no nf_tables module), breaking NM hotspot NAT rules
  if [ "$(readlink /etc/alternatives/iptables)" != "/usr/sbin/iptables-legacy" ]; then
    sudo mount -o remount,rw /
    sudo ln -sf /usr/sbin/iptables-legacy /etc/alternatives/iptables
    sudo ln -sf /usr/sbin/iptables-legacy-restore /etc/alternatives/iptables-restore
    sudo ln -sf /usr/sbin/iptables-legacy-save /etc/alternatives/iptables-save
    sudo mount -o remount,ro /
  fi


  CURRENT_AGNOS_VERSION=$(< /VERSION)
  if ! agnos_version_allowed "$CURRENT_AGNOS_VERSION" "$AGNOS_VERSION"; then
    AGNOS_PY="$DIR/iqpilot/system/hardware/tici/agnos.py"
    MANIFEST="$IQ_C3_DIR/agnos.json"
    if $AGNOS_PY --verify $MANIFEST; then
      sudo reboot
    fi
    $DIR/iqpilot/system/hardware/tici/updater $AGNOS_PY $MANIFEST
  fi
}

function launch {
  # Remove orphaned git lock if it exists on boot
  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock

  # Check to see if there's a valid overlay-based update available. Conditions
  # are as follows:
  #
  # 1. The DIR init file has to exist, with a newer modtime than anything in
  #    the DIR Git repo. This checks for local development work or the user
  #    switching branches/forks, which should not be overwritten.
  # 2. The FINALIZED consistent file has to exist, indicating there's an update
  #    that completed successfully and synced to disk.

  if [ -f "${DIR}/.overlay_init" ]; then
    find ${DIR}/.git -newer ${DIR}/.overlay_init | grep -q '.' 2> /dev/null
    if [ $? -eq 0 ]; then
      echo "${DIR} has been modified, skipping overlay update installation"
    else
      if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
        if [ ! -d /data/safe_staging/old_openpilot ]; then
          echo "Valid overlay update found, installing"
          LAUNCHER_LOCATION="${BASH_SOURCE[0]}"

          mv $DIR /data/safe_staging/old_openpilot
          mv "${STAGING_ROOT}/finalized" $DIR
          cd $DIR

          echo "Restarting launch script ${LAUNCHER_LOCATION}"
          unset AGNOS_VERSION
          exec "${LAUNCHER_LOCATION}"
        else
          echo "openpilot backup found, not updating"
          # TODO: restore backup? This means the updater didn't start after swapping
        fi
      fi
    fi
  fi

  # Install/update proprietary runtime bundles.
  if [ -f "$DIR/artifacts/runtime/ensure_private_installed.sh" ]; then
    bash "$DIR/artifacts/runtime/ensure_private_installed.sh" || true
  elif [ -x "$DIR/scripts/iqpilot/ensure_navd_private_installed.sh" ]; then
    # Backward-compat fallback for older trees.
    "$DIR/scripts/iqpilot/ensure_navd_private_installed.sh" || true
  fi

  PYTHONPATH="$DIR" /usr/local/venv/bin/python3 -c "from iqpilot.common.git_creds import install_credential_helper; install_credential_helper('$DIR')" 2>/dev/null || true
  PACKAGE_LOCK_SHA="$(sha256sum "$DIR/uv.lock" | awk '{print $1}')"
  INSTALLED_PACKAGE_LOCK_SHA="$(cat "$DIR/.iqpilot-package-lock-sha256" 2>/dev/null || true)"
  BASE_SITE_PACKAGES="$(/usr/local/venv/bin/python3 -c 'import site; print(site.getsitepackages()[0])')"
  PROJECT_RAYLIB="$("$DIR/.venv/bin/python3" -c 'import importlib.metadata; print(importlib.metadata.distribution("raylib").locate_file(""))' 2>/dev/null || true)"
  if [[ "$PROJECT_RAYLIB" = "$DIR/.venv"/* ]]; then
    sudo rm -rf "$DIR/.venv"
    rm -f "$DIR/.iqpilot-package-lock-sha256"
    INSTALLED_PACKAGE_LOCK_SHA=""
  fi
  VENV_SITE_PACKAGES="$("$DIR/.venv/bin/python3" -c 'import site; print(site.getsitepackages()[0])' 2>/dev/null || true)"
  PACKAGES_READY=0
  if [ -d "$DIR/_vendor_runtime" ] && PYTHONPATH="$DIR/_vendor_runtime" /usr/local/venv/bin/python3 -c "import iqdbc, msgq, panda, rednose, teleoprtc, tinygrad" 2>/dev/null; then
    PACKAGES_READY=1
  elif [ "$PACKAGE_LOCK_SHA" = "$INSTALLED_PACKAGE_LOCK_SHA" ] && "$DIR/.venv/bin/python3" -c "import iqdbc, msgq, panda, rednose, teleoprtc, tinygrad" 2>/dev/null; then
    PACKAGES_READY=1
  fi
  if [ "$PACKAGES_READY" != "1" ]; then
    UV_CACHE_DIR="$DIR/.uv-cache"
    if [ ! -x "$DIR/.venv/bin/python3" ]; then
      UV_CACHE_DIR="$UV_CACHE_DIR" uv venv --python /usr/local/venv/bin/python3 "$DIR/.venv" || return 1
      VENV_SITE_PACKAGES="$("$DIR/.venv/bin/python3" -c 'import site; print(site.getsitepackages()[0])')"
    fi
    sudo chown -R "$(id -u):$(id -g)" "$DIR/.venv" "$UV_CACHE_DIR" "$DIR/artifacts/package_sources" 2>/dev/null || true
    IQDBC_PACKAGE_SOURCE=""
    PACKAGE_SOURCES=()
    while IFS=$'\t' read -r package_name package_source; do
      PACKAGE_SOURCES+=("$package_source")
      if [ "$package_name" = "iqdbc" ]; then
        IQDBC_PACKAGE_SOURCE="$package_source"
      fi
    done < <(/usr/local/venv/bin/python3 "$DIR/iqpilot/system/runtime_package_sources.py" "$DIR")
    if [ "${#PACKAGE_SOURCES[@]}" = "0" ] || [ -z "$IQDBC_PACKAGE_SOURCE" ]; then
      return 1
    fi
    PACKAGE_BUILD_PYTHONPATH="$BASE_SITE_PACKAGES:$VENV_SITE_PACKAGES"
    UV_CACHE_DIR="$UV_CACHE_DIR" PYTHONPATH="$PACKAGE_BUILD_PYTHONPATH" PATH="/usr/local/venv/bin:/usr/bin:$PATH" \
      uv pip install --python "$DIR/.venv/bin/python" --no-build-isolation --no-deps --reinstall "$IQDBC_PACKAGE_SOURCE" || return 1
    UV_CACHE_DIR="$UV_CACHE_DIR" PYTHONPATH="$PACKAGE_BUILD_PYTHONPATH" PATH="/usr/local/venv/bin:/usr/bin:$PATH" \
      uv pip install --python "$DIR/.venv/bin/python" --no-build-isolation --no-deps --reinstall "${PACKAGE_SOURCES[@]}" || return 1
    printf '%s\n' "$PACKAGE_LOCK_SHA" > "$DIR/.iqpilot-package-lock-sha256"
  fi
  if [ -n "$VENV_SITE_PACKAGES" ]; then
    printf 'import site; site.addsitedir("%s")\n' "$BASE_SITE_PACKAGES" | sudo tee "$VENV_SITE_PACKAGES/iqpilot-system-venv.pth" >/dev/null
  fi
  export PATH="$DIR/.venv/bin:$PATH"

  RUNTIME_COMPAT_ROOT="$DIR/.iqpilot/runtime_root"
  mkdir -p "$RUNTIME_COMPAT_ROOT"
  ln -sfn "$DIR/iqpilot" "$RUNTIME_COMPAT_ROOT/iqpilot"
  ln -sfn iqpilot "$RUNTIME_COMPAT_ROOT/openpilot"
  ln -sfn "$DIR/iqpilot/system" "$RUNTIME_COMPAT_ROOT/system"

  ln -sfn $(pwd) /data/pythonpath
  export IQPILOT_SOURCE_ROOT="${IQPILOT_SOURCE_ROOT:-$DIR/iqpilot}"
  IQPILOT_PYTHONPATH="$VENV_SITE_PACKAGES:$PWD"
  if [ -d "$PWD/_vendor_runtime" ]; then
    IQPILOT_PYTHONPATH="$PWD/_vendor_runtime:$IQPILOT_PYTHONPATH"
  fi
  export PYTHONPATH="$IQPILOT_PYTHONPATH"

  # Install independent systemd services BEFORE build so they run even
  # when openpilot fails to compile — SSH/BLE/hephaestusd must always
  # be reachable for device recovery.
  for service_name in hephaestusd ble-transportd flockd; do
    service_src="$DIR/iqpilot/system/${service_name}.service"
    service_dst="/etc/systemd/system/${service_name}.service"
    service_lib="/lib/systemd/system/${service_name}.service"
    service_dropin="/run/systemd/system/${service_name}.service.d"
    service_exec="$(grep '^ExecStart=' "$service_src")"
    sudo mkdir -p "$service_dropin"
    printf '[Service]\nWorkingDirectory=%s\nEnvironment="IQPILOT_SOURCE_ROOT=%s/iqpilot"\nEnvironment="IQPILOT_PROPRIETARY_ROOT=%s/artifacts"\nEnvironment="PYTHONPATH=/usr/libexec/iqpilot/python:%s:%s"\nExecStart=\n%s\n' "$RUNTIME_COMPAT_ROOT" "$DIR" "$DIR" "$VENV_SITE_PACKAGES" "$DIR" "$service_exec" | sudo tee "$service_dropin/iqpilot-packages.conf" >/dev/null
    sudo systemctl daemon-reload
    if [ -f "$service_lib" ] && grep -q "/usr/libexec/iqpilot/iqpilot_bundle_runner" "$service_lib"; then
      if [ -f "$service_dst" ]; then
        sudo mount -o remount,rw /
        sudo rm -f "$service_dst"
        sudo systemctl daemon-reload
        sudo mount -o remount,ro /
      fi
      sudo systemctl enable "${service_name}.service"
      if systemctl is-active --quiet "${service_name}.service"; then
        sudo systemctl restart "${service_name}.service"
      else
        sudo systemctl start "${service_name}.service"
      fi
    elif [ -f "$service_src" ]; then
      if [ ! -f "$service_dst" ] || ! cmp -s "$service_src" "$service_dst"; then
        sudo mount -o remount,rw /
        sudo cp "$service_src" "$service_dst"
        sudo systemctl daemon-reload
        sudo systemctl enable "${service_name}.service"
        sudo mount -o remount,ro /
        sudo systemctl restart "${service_name}.service"
      elif ! systemctl is-active --quiet "${service_name}.service"; then
        sudo systemctl start "${service_name}.service"
      fi
    fi
  done

  # hardware specific init
  if [ -f /AGNOS ]; then
    agnos_init
  fi

  # write tmux scrollback to a file
  tmux capture-pane -pq -S-1000 > /tmp/launch_log

  # start manager
  cd $DIR/iqpilot/system/manager
  if [ ! -f $DIR/prebuilt ]; then
    "$DIR/.venv/bin/python3" ./build.py
  fi

  "$DIR/.venv/bin/python3" ./manager.py

  # if broken, keep on screen error
  while true; do sleep 1; done
}

launch