#! /bin/bash
###########################################################################
# @licence app begin@
# SPDX-License-Identifier: MPL-2.0
#
# \copyright Copyright (C) 2013-2014, PCA Peugeot Citroen
#
# \file run
#
# \brief This file is part of the Build System.
#
# \author # Author: Martin Schaller <martin.schaller@it-schaller.de>
#
# \version 1.0
#
# This Source Code Form is subject to the terms of the
# Mozilla Public License (MPL), v. 2.0.
# If a copy of the MPL was not distributed with this file,
# You can obtain one at http://mozilla.org/MPL/2.0/.
#
# For further information see http://www.genivi.org/.
#
# List of changes:
# 
# 5-8-2014, Philippe Colliot, Refine, add a sleep and improve comments
# 30-9-2014, Philippe Colliot, Make it simpler and add a check for availability of hmi style-sheets
#
# @licence end@
###########################################################################

# function to start a process by freezing some of the options
function run
{
	local x=$xterm
	local g=$gdb
	local l=$log
	local title="$1"
	shift
	if [ "$1" = "-n" ]
	then
		shift
		x=0
		log=0
	fi
	if [ "$1" = -"g" ]
	then
		shift
		g=0
	fi
	if [ "$x" = 1 ]
	then
		if [ "$g" = 1 ]
		then
			set -- gdb -ex run --args "$@"
		fi
		xterm -T "$title" -sb -sl 5000 -e "$@" &
	elif [ "$log" = 1 ]
	then
		"$@" >"$CUR_DIR/$title.log" 2>&1 &
	else
		"$@" &
	fi
	PIDS="$PIDS $!"
}

# function to wait for the dbus service to be started, exit if too long
function wait_for_service
{
	for i in $(seq 1 50)
	do
		if dbus-send --dest=$1 $2 org.freedesktop.DBus.Introspectable.Introspect
		then
			return
		fi
		echo "Waiting for $1"
		sleep 0.1
	done
	exit 1
}

# function to catch the ctrl C or exit and to stop cleanly
function terminate
{
	set +e
	trap "" EXIT INT
	kill $PIDS 2>/dev/null
	if [ "$gdb" = 1 ]
	then
		kill -9 $PIDS 2>/dev/null
	fi
	if [ -n "$wm" ]
	then
		sleep 2
		cd
		nohup $wm >/dev/null 2>/dev/null &
	fi
}

# default settings
gdb=0 #no debug
xterm=0 #no subprocess into a separate xterm
log=0 #no log file 
enhpos=1 #enhanced position server enabled 
replayer=0 #replayer disabled
gateway=0 #vehicle gateway disabled
lm=0 #layer manager disabled
wm="" #to store the current window manager (in case of start with the layer manager)
verbose=0 #no debug or log messages displayed
center="4612 N 0608 E" #geneva
config_file=fsa_switzerland.conf #switzerland settings
persistent=0 #reuse of persistent data disabled
speech=0

CUR_DIR=$PWD
BIN_DIR=$CUR_DIR/build
TOP_DIR=$CUR_DIR

SCRIPT_DIR=$TOP_DIR/script
HMI_DIR=$TOP_DIR/hmi
app=$HMI_DIR/qml/NavigationApp.qml # hmi panel launched by default
repl=""
STYLE_SHEETS_GENERATED_INDICATOR=$HMI_DIR/style-sheets/the-style-sheets-have-been-generated-css.js
CONFIG_DIR=$HMI_DIR/config
REPLAYER_LOG_FILE=none
export REPLAYER_LOG_FILE

# location of exe, lib and config files
AUTOMOTIVE_MESSAGE_BROKER=automotive-message-broker
AUTOMOTIVE_MESSAGE_BROKER_SRC_DIR=$TOP_DIR/$AUTOMOTIVE_MESSAGE_BROKER
AUTOMOTIVE_MESSAGE_BROKER_BIN_DIR=$AUTOMOTIVE_MESSAGE_BROKER_SRC_DIR/src/$AUTOMOTIVE_MESSAGE_BROKER-build
GENIVI_LOGREPLAYER=genivilogreplayer
GENIVI_LOGREPLAYER_SRC_DIR=$TOP_DIR/$GENIVI_LOGREPLAYER
GENIVI_LOGREPLAYER_BIN_DIR=$BIN_DIR/$GENIVI_LOGREPLAYER

NAVIGATION=navigation
NAVIGATION_SRC_DIR=$TOP_DIR/$NAVIGATION/src/navigation
NAVIGATION_BIN_DIR=$BIN_DIR/$NAVIGATION

NAVIT=navit
NAVIT_BIN_DIR=$NAVIGATION_BIN_DIR/navit/navit

POI_SERVER=poi-server
POI_SERVER_SRC_DIR=$TOP_DIR/$NAVIGATION/src/poi-service/$POI_SERVER
POI_SERVER_BIN_DIR=$TOP_DIR/$NAVIGATION/src/poi-service/bin
POI_SERVER_RESOURCE_DIR=$TOP_DIR/$NAVIGATION/src/poi-service/resource

poidatabase=$POI_SERVER_RESOURCE_DIR/empty.db # empty poi database by default

LOG_REPLAYER=log-replayer-server
LOG_REPLAYER_SRC_DIR=$TOP_DIR/$LOG_REPLAYER
LOG_REPLAYER_BIN_DIR=$TOP_DIR/bin

ENHANCED_POSITION_SERVICE=dead-reckoning
ENHANCED_POSITION_SERVICE_SRC_DIR=$TOP_DIR/$ENHANCED_POSITION_SERVICE
ENHANCED_POSITION_SERVICE_BIN_DIR=$TOP_DIR/bin

FUEL_STOP_ADVISOR=fuel-stop-advisor
FUEL_STOP_ADVISOR_SRC_DIR=$TOP_DIR/$FUEL_STOP_ADVISOR
FUEL_STOP_ADVISOR_BIN_DIR=$BIN_DIR/$FUEL_STOP_ADVISOR

HMI_LAUNCHER=hmi-launcher
HMI_LAUNCHER_SRC_DIR=$TOP_DIR/hmi/$HMI_LAUNCHER
HMI_LAUNCHER_BIN_DIR=$TOP_DIR/bin

VEHICLE_GATEWAY=vehicle-gateway
VEHICLE_GATEWAY_SRC_DIR=$TOP_DIR/$VEHICLE_GATEWAY
VEHICLE_GATEWAY_BIN_DIR=$BIN_DIR/$VEHICLE_GATEWAY
devices="/dev/ttyUSB0 /dev/ttyACM0"

SPEECH_SERVER=speech-server
SPEECH_OUTPUT_BIN_DIR=$TOP_DIR/$NAVIGATION/src/speech-service/bin/

# options analysis
while getopts a:c:df:g:hlnopr:svx opt
do
	case $opt in
	a) #select another hmi panel
		app=$(readlink -f $OPTARG) 
		;;
	c) #set the map center 
		case "$OPTARG" in
		paris)
			center="2.34 48.84"
			config_file=fsa_paris.conf
			;;
		tokyo)
			center="139.74 35.70"
			config_file=fsa_tokyo.conf
			;;
		london)
			center="-0.13 51.51"
			config_file=fsa_london.conf
			;;
		seoul)
			center="126.99 37.54"
			config_file=fsa_seoul.conf
			;;
		giromagny)
			center="47.74 6.83"
			config_file=fsa_giromagny.conf
			;;
		[0-9-]*)
			center=$OPTARG
			;;
		*)
			echo "Unsupported center $OPTARG" >&2
			exit 1
			;;
		esac
		;;
	d) #enable the debugger
		gdb=1
		;;
	f) #load another poi database
		poidatabase=$(readlink -f $OPTARG) 
		;;
	g) #enable the vehicle gateway
		gateway=1
		devices=$OPTARG
		;;
	l) #enable the layer manager
		lm=1
		;;
	n) #disable the enhanced position server 
		enhpos=0
		;;
	o) #enable the log file
		log=1
		;;
	p) #enable the reuse of persistent data
		persistent=1
		;;
	r) #enable the log replayer and set the file
		replayer=1
		repl=$(readlink -f $OPTARG) 
		;;
	s)
		speech=1
		;;
	v) #enable log messages
		verbose=1
		;;
	x) #enable subprocess in a separate xterm
		xterm=1
		;;
	h)
		echo "Usage:"
		echo "$0 [-a application][-c center][-r replayerfile][-ghlnopsvx]"
		echo "-a: Set application (default application.qml)"
		echo "-c: Set center (supported values: paris,tokyo,london,seoul,giromagny longitude latitude). Default is geneve"
		echo "-d: Run subprocesses within gdb (only with -x)"
		echo "-f: Load another database (for poi)"
		echo "-g: Run the vehicle gateway (only with -r) -g \"<ELM327device> <GNSSdevice>\""
		echo "-h: Help"
		echo "-l: Use layermanager"
		echo "-n: Don't start enhanced positioning service"
		echo "-o: Create log file of subprocess output"
		echo "-p: Reuse of persistent data (i.e. in $HOME, so don't reinit it with default file)"
		echo "-r: Start replayer"
		echo "-s: Launch the speech server"
		echo "-v: Enable the output of log or debug messages"
		echo "-x: Run subprocesses in own xterm to get separated log messages (doesn't make sense with -l)"
		exit 1
	esac
done

# check if style sheets have been generated
if [ ! -f $STYLE_SHEETS_GENERATED_INDICATOR ]
then
    echo "Please generate the style sheets before"
	$SCRIPT_DIR/prepare.sh -h
	exit 1
fi

# check and kill remaining ambd process
ambd_process_id=$(pidof ambd)
if [ -n $ambd_process_id ] 
then
	kill -9 $ambd_process_id
fi

trap "terminate" EXIT INT
set -e #exit on error now

echo "the graphic for navit is based on sdl"
export NAVIT_GRAPHICS='sdl'

# set the language to en_US for navit
export LANGUAGE=en_US

if [ "$persistent" = 0 ]
then
	if [ ! -d $HOME"/.config/navigation" ]
	then
		mkdir -p $HOME/.config
		mkdir $HOME/.config/navigation
	fi
	# reinit the config file for Qt (persistent data)
	cp $CONFIG_DIR/$config_file $HOME/.config/navigation/fsa.conf
fi

# start the automotive message broker and wait for dbus service
cd $AUTOMOTIVE_MESSAGE_BROKER_BIN_DIR
if [ "$verbose" = "1" ]
then
	run "Automotive Message Broker" ./ambd/ambd --config $GENIVI_LOGREPLAYER_SRC_DIR/logreplayerconfig.in.json
else
	run "Automotive Message Broker" ./ambd/ambd > /dev/null 2>&1 --config $GENIVI_LOGREPLAYER_SRC_DIR/logreplayerconfig.in.json
fi
wait_for_service org.automotive.message.broker /

# start the poi server and wait for dbus service
run "POI service" $POI_SERVER_BIN_DIR/$POI_SERVER -f $poidatabase
wait_for_service org.genivi.poiservice.POISearch /org/genivi/poiservice/POISearch

if [ "$enhpos" = 1 ]
then # start the  enhanced position service
	run "EnhancedPositionService" $ENHANCED_POSITION_SERVICE_BIN_DIR/$ENHANCED_POSITION_SERVICE 
	wait_for_service org.genivi.positioning.EnhancedPosition /org/genivi/positioning/EnhancedPosition
fi

# start the two instances of navit with plugins (one for navigation core and another one for map viewer)
cd $NAVIT_BIN_DIR
>bookmark.txt
echo "$center" >center.txt

if [ "$verbose" = "1" ]
then
	run "MapViewer" ./$NAVIT -d 3 -c navit_genivi_mapviewer.xml
else
	run "MapViewer" ./$NAVIT -d 0 -c navit_genivi_mapviewer.xml 2>~/mapviewer.log
fi

wait_for_service org.genivi.mapviewer.Configuration /org/genivi/mapviewer
wait_for_service org.genivi.mapviewer.MapViewerControl /org/genivi/mapviewer
wait_for_service org.genivi.mapviewer.Session /org/genivi/mapviewer

if [ "$verbose" = "1" ]
then
	run "NavigationCore" ./$NAVIT -d 3 -c navit_genivi_navigationcore.xml
else
	run "NavigationCore" ./$NAVIT -d 0 -c navit_genivi_navigationcore.xml
fi

wait_for_service org.genivi.navigationcore.Configuration /org/genivi/navigationcore
wait_for_service org.genivi.navigationcore.Guidance /org/genivi/navigationcore
wait_for_service org.genivi.navigationcore.LocationInput /org/genivi/navigationcore
wait_for_service org.genivi.navigationcore.MapMatchedPosition /org/genivi/navigationcore
wait_for_service org.genivi.navigationcore.Routing /org/genivi/navigationcore
wait_for_service org.genivi.navigationcore.Session /org/genivi/navigationcore

if [ "$replayer" = 1 ]
then # start the log replayer (of the fsa) with the log file
echo "$repl"
	run "Log Replayer" $LOG_REPLAYER_BIN_DIR/$LOG_REPLAYER  $repl
else
	if [ "$gateway" = 1 ]
	then
		run "Vehicle gateway" $VEHICLE_GATEWAY_BIN_DIR/$VEHICLE_GATEWAY $devices
	fi
fi

if [ "$speech" = 1 ]
then
	# start the speech server 
	run "Speech service" $SPEECH_OUTPUT_BIN_DIR/$SPEECH_SERVER 
fi

sleep 3 # need a sleep here (to be improved)
# start the fuel stop advisor application
run "Fuel Stop Advisor" $FUEL_STOP_ADVISOR_BIN_DIR/$FUEL_STOP_ADVISOR

# log trace into a file
if [ "$log" = 1 ]
then
	exec >$CUR_DIR/fsa.log
	exec 2>&1
fi

# start the hmi 
$HMI_LAUNCHER_BIN_DIR/$HMI_LAUNCHER $app