#!/usr/bin/env bash
# Start the LiDAR map locally with a single command (GPU optional).
#
#   ./start.sh                 build the image and start the map (port 8973)
#   ./start.sh stop            stop the map
#   ./start.sh logs            follow the server log
#   ./start.sh process [opts]  one-off processing of the tiles in input/
#                              (options passed to the pipeline, e.g. --file NAME)
#
# Without an NVIDIA GPU usable by Docker, docker-compose.cpu.yml is added
# automatically (the pipeline then runs on the CPU, more slowly).
set -euo pipefail

cd "$(dirname "$0")"

# Create input/ and output/ as the current user: if Docker created them they
# would belong to root and the container (uid 1000) could not write to them.
mkdir -p input output
for d in input output; do
    if [ ! -w "$d" ]; then
        echo "Error: $d/ is not writable (owner: $(stat -c %U "$d"))." >&2
        echo "Fix it with: sudo chown -R $(id -u):$(id -g) $d" >&2
        exit 1
    fi
done
if [ "$(id -u)" != "1000" ]; then
    echo "Warning: the containers run as uid 1000, you are $(id -u):" >&2
    echo "input/ and output/ must stay writable by uid 1000." >&2
fi

# GPU: nvidia-smi present AND Docker able to hand it to a container.
compose=(docker compose -f docker-compose.yml)
if command -v nvidia-smi >/dev/null 2>&1 && nvidia-smi >/dev/null 2>&1 \
   && docker run --rm --gpus all --entrypoint true busybox >/dev/null 2>&1; then
    echo "NVIDIA GPU detected: accelerated processing."
else
    echo "No usable GPU: processing on the CPU (slower)."
    compose+=(-f docker-compose.cpu.yml)
fi

case "${1:-up}" in
    up)
        "${compose[@]}" up -d --build serve
        echo "Map: http://localhost:8973/"
        echo "Log: ./start.sh logs - stop: ./start.sh stop"
        ;;
    stop)
        "${compose[@]}" down
        ;;
    logs)
        "${compose[@]}" logs -f serve
        ;;
    process)
        shift
        if [ $# -gt 0 ]; then
            # Any option replaces the service's default command: repeat it in
            # full (input, output, 0.2 m, all GPUs).
            "${compose[@]}" run --rm --build process \
                python3 -m lidar_pipeline /data/input -o /data/output -r 0.2 -g all "$@"
        else
            "${compose[@]}" run --rm --build process
        fi
        ;;
    *)
        sed -n '2,10p' "$0" | sed 's/^# \{0,1\}//'
        exit 1
        ;;
esac