#!/bin/bash



######################
## SCRIPT INIT
######################
DRONE_INTERFACE=$(yq '.drone_interface' < settings/admin.yml)
DRONE_WPA_SUPP_CONF=$(yq '.drone_wpa_supp' < settings/admin.yml)
NET_INTERFACE=$(yq '.net_interface' < settings/admin.yml)
NET_WPA_SUPP_CONF=$(yq '.net_wpa_supp' < settings/admin.yml)
#ENV_FOR_DYNACONF=$(yq '.env_for_dynaconf' < settings/admin.yml)

pids_dir='./pids'
if [[ ! -d "$pids_dir" ]]; then
  mkdir $pids_dir
fi



######################
## COMMAND FUNCTIONS
######################
list_related_network_interface_status() {
	networkctl list
}

list_wifi_ssid(){
	echo "using drone interface: $DRONE_INTERFACE"
	sudo iw dev $DRONE_INTERFACE scan | grep "SSID: "
}

connect_using_wpa_supp() {
    echo "########## log start: $(date) ##########"
    sudo wpa_supplicant -D nl80211 -i $DRONE_INTERFACE -c network/$DRONE_WPA_SUPP_CONF
}

get_dhcp_ip () {
    echo "########## log start: $(date) ##########"
    while true; 
    do
        sudo dhclient $DRONE_INTERFACE            
        ip_address=$(ip addr show $DRONE_INTERFACE | grep 'inet ' | awk '{print $2}' | cut -d'/' -f1)
        if [[ -n $ip_address ]]; then
            echo "Drone assigned IP to commander: $ip_address"
            echo "ok"
            break
        else 
            echo "Drone is not assigned an IP yet. Waiting.."
            sleep 2
        fi
    done
}

start_jupyter() {
  echo "########## log start: $(date) ##########"
	venv/bin/python -m jupyter lab --ip='0.0.0.0' --NotebookApp.token='' --NotebookApp.password='' --no-browser --port=8888
}

start_codeserver(){
    echo "########## log start: $(date) ##########"
    packages/code-server/code-server-4.12.0-linux-amd64/bin/code-server --config /home/uad/misc/tello-commander/packages/code-server/config.yaml --disable-getting-started-override --disable-workspace-trust --disable-telemetry ./
}

start_commander_service() {
  echo "########## log start: $(date) ##########"
	venv/bin/python commander/service.py $1
}

start_webui_service() {
  echo "########## log start: $(date) ##########"
  commander_host=$1
  ENV_FOR_DYNACONF=$commander_host venv/bin/python brain/service.py
}

talk_to_drone_via_cli() {
  commander_host=$1
  ENV_FOR_DYNACONF=$commander_host python brain/cli.py
}

kill_everything() {
	for p in $pids_dir/*.txt; do echo "killing $p"; sudo pkill -15 $(cat "$p"); done
}

remote_shutdown() {
    echo "shutting down drone commander rpi in 3 secs"
    sleep 3
    ssh uad@10.8.0.9 "sudo shutdown now"
}


######################
## NETWORK
######################
if [ "$1" == "list-network" ]; then
    list_related_network_interface_status

elif [ "$1" == "list-wifis" ]; then
    list_wifi_ssid #connect $2 $3

elif [ "$1" == "connect-drone" ]; then
    connect_using_wpa_supp  >> logs/wpa_supp.log 2>&1 &
    wpa_supp_pid=$!
    echo "started wpa supplicant to connect drone network with PID $wpa_supp_pid"
    echo $wpa_supp_pid > $pids_dir/wpa_supp_pid.txt

elif [ "$1" == "disconnect-drone" ]; then
    wpa_supp_pid_file="$pids_dir/wpa_supp_pid.txt"
    if [ -f "$wpa_supp_pid_file" ]; then
        sudo pkill -15 -P $(cat $wpa_supp_pid_file)
        echo "stopped drone connection via wpa_supp"
	fi

elif [ "$1" == "get-dhcp" ]; then
    get_dhcp_ip  >> logs/dhcp_ip.log 2>&1 &
    dhcp_ip_pid=$!
    echo "requested ip address from drone router with PID $dhcp_ip_pid"
    echo $dhcp_ip_pid > $pids_dir/dhcp_ip_pid.txt

elif [ "$1" == "kill-dhcp" ]; then
    dhcp_ip_pid_file="$pids_dir/dhcp_ip_pid.txt"
    if [ -f "$dhcp_ip_pid_file" ]; then
        sudo pkill -15 -P $(cat $dhcp_ip_pid_file)
        echo "killed dhcp client"
	fi

######################
## DEV
######################
elif [ "$1" == "start-jupyter" ]; then
    start_jupyter  >> logs/jupyter.log 2>&1 &
    jupyter_pid=$!
    echo "started jupyter with PID $jupyter_pid"
    echo $jupyter_pid > $pids_dir/jupyter_pid.txt

elif [ "$1" == "stop-jupyter" ]; then
    jupyter_pid_file="$pids_dir/jupyter_pid.txt"
    if [ -f "$jupyter_pid_file" ]; then
        pkill -15 -P $(cat $jupyter_pid_file)
        echo "stopped jupyter"
	fi

elif [ "$1" == "start-cs" ]; then
    start_codeserver  >> logs/codeserver.log 2>&1 &
    codeserver_pid=$!
    echo "started code server with PID $codeserver_pid"
    echo $codeserver_pid > $pids_dir/codeserver_pid.txt

elif [ "$1" == "stop-cs" ]; then
    codeserver_pid_file="$pids_dir/codeserver_pid.txt"
    if [ -f "$codeserver_pid_file" ]; then
        sudo pkill -15 -P $(cat $codeserver_pid_file)
        sudo killport 8888
        echo "stopped code server"
    fi

elif [ "$1" == "turn-off" ]; then
  	kill_everything
    remote_shutdown

######################
## DRONE
######################
elif [ "$1" == "start-commander" ]; then
    start_commander_service $2 >> logs/commander.log 2>&1 &
    commander_pid=$!
    echo "started commander with PID $commander_pid"
    echo $commander_pid > $pids_dir/commander_pid.txt

elif [ "$1" == "stop-commander" ]; then
    commander_pid_file="$pids_dir/commander_pid.txt"
    if [ -f "$commander_pid_file" ]; then
        sudo killport 8889
        sudo pkill -15 -P $(cat $commander_pid_file)
        echo "stopped commander"
	fi

elif [ "$1" == "start-webui" ]; then
    start_webui_service $2 >> logs/webui.log 2>&1 &
    webui_pid=$!
    echo "started webui service with PID $webui_pid"
    echo $webui_pid > $pids_dir/webui_pid.txt

elif [ "$1" == "stop-webui" ]; then
    webui_pid_file="$pids_dir/webui_pid.txt"
    if [ -f "webui_pid_file" ]; then
        sudo killport 8890
        sudo pkill -15 -P $(cat $webui_pid_file)
        echo "stopped webui service"
	fi

elif [ "$1" == "prepare-flight" ]; then
    echo "########## log start: $(date) ##########"
    ./manage.sh connect-drone
    ./manage.sh get-dhcp
    ./manage.sh start-commander
    ./manage.sh start-webui commander_local
    echo "prepared to flight"

elif [ "$1" == "finish-flight" ]; then
    echo "########## log start: $(date) ##########"
    ./manage.sh disconnect-drone
    ./manage.sh kill-dhcp
    ./manage.sh stop-commander
    ./manage.sh start-webui
    kill_everything
    echo "flight finished"

elif [ "$1" == "start-clitalk" ]; then
    talk_to_drone_via_cli $2

######################
## INFO
######################
else
    echo "Invalid command. Please use one of:
  - list-network
  - list-wifis
  - connect-/ disconnect-drone
  - get-/ kill-dhcp
  - start-/ stop-jupyter (8888)
  - start-/ stop-cs (8888)
  - start-/ stop-commander (8889)
  - start-/ stop-webui [commander_host (tuncel / commander_remote / commander_local)] (8890)
  - start-/ stop-clitalk [commander_host (tuncel / commander_remote / commander_local)]
  - turn-off
  - prepare-/ finish-flight"
fi