#!/bin/bash



######################
## SCRIPT INIT
######################
DRONE_INTERFACE=$(yq '.commander.drone_interface' < settings/admin.yml)
DRONE_WPA_SUPP_CONF=$(yq '.commander.drone_wpa_supp' < settings/admin.yml)
NET_INTERFACE=$(yq '.commander.net_interface' < settings/admin.yml)
NET_WPA_SUPP_CONF=$(yq '.commander.net_wpa_supp' < settings/admin.yml)
ENV_FOR_DYNACONF=$(yq '.commander.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() {
	sudo wpa_supplicant -D nl80211 -i $DRONE_INTERFACE -c network/$DRONE_WPA_SUPP_CONF
}

wait_for_drone() {
    while ! ping -c1 192.168.10.1 &>/dev/null; do
        echo "Drone is offline. Waiting.."; sleep 2
    done
    echo "Drone is available, can ask for dhcp"; sleep 1
}

get_dhcp_ip () {
    sudo dhclient $DRONE_INTERFACE
}

start_jupyter() {
	venv/bin/python -m jupyter lab --ip='0.0.0.0' --NotebookApp.token='' --NotebookApp.password='' --no-browser --port=8888
}

start_codeserver(){
    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() {
	venv/bin/python commander/commander.py $1
}

talk_to_drone() {
    ENV_FOR_DYNACONF=$ENV_FOR_DYNACONF python brain/brain.py
}

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



######################
## 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
    echo "will wait forever until drone is on and connected to repeater"
    wait_for_drone
    echo "ok"

elif [ "$1" == "disconnect-drone" ]; then
    wpa_supp_pid_file="$pids_dir/wpa_supp_pid.txt"
    if [ -f "$wpa_supp_pid_file" ]; then
        sudo pkill -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 -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
    #tail -f logs/jupyter.log

elif [ "$1" == "stop-jupyter" ]; then
    jupyter_pid_file="$pids_dir/jupyter_pid.txt"
    if [ -f "$jupyter_pid_file" ]; then
        pkill -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
    #tail -f logs/codeserver.log

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

elif [ "$1" == "stop-all" ]; then
  	kill_everything

######################
## 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
    #tail -f logs/commander.log

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


elif [ "$1" == "prepare-flight" ]; then
    ./manage.sh connect-drone
    ./manage.sh get-dhcp
    ./manage.sh start-commander
    echo "prepared to flight"

elif [ "$1" == "finish-flight" ]; then
    ./manage.sh disconnect-drone
    ./manage.sh kill-dhcp
    ./manage.sh stop-commander
    #kill_everything
    echo "flight finished"
elif [ "$1" == "start-talking" ]; then
    talk_to_drone

######################
## INFO
######################
else
    echo "Invalid command. Please use one of:
  - list-network
  - list-wifis
  - connect-/ disconnect-drone
  - get-/ kill-dhcp
  - start-/ stop-jupyter
  - start-/ stop-cs
  - start-/ stop-commander [port]
  - start-talking
  - stop-all
  - prepare-/ finish-flight"
fi