#!/bin/bash
#=======================================================================
# FILE:  scripts/deploy.sh
# DESC:  部署 mission + 7 个 systemd 服务（moosdb / pPowerManger /
#        pPowerMangerHost / pCCU / pCanBridge / pMotor / pELoad）到目标
#        板卡 (RK3588 / Ubuntu 22.04)。只安装服务 + daemon-reload，
#        默认不启动、不自启。
#
#        注意：二进制由 ./scripts/build-board.sh 在板卡原生编译并部署到
#        /root/work/h100/bin/（交叉编译已移除），本脚本不再推送二进制。
#
# 用法:
#   ./scripts/deploy.sh setup-ssh         一次性：生成 ed25519 key + ssh-copy-id
#   ./scripts/deploy.sh                   默认：推送 mission + 装 7 个
#                                         systemd 服务 + daemon-reload（不启动）
#   ./scripts/deploy.sh --start           部署后按依赖顺序启动服务
#   ./scripts/deploy.sh status            板卡各服务状态
#   ./scripts/deploy.sh stop              停止各服务
#   ./scripts/deploy.sh help              显示帮助
#
# 参数:
#   --host <ip>      目标主机（默认 192.168.0.223）
#   --user <user>    登录用户（默认 root）
#   --board-dir <dir> 板卡部署根目录（默认 /root/work/h100）
#   --start          部署后立即启动服务
#   --ccu-host <ip>  覆盖 mission 中 pPowerManger 的 CCU 地址 (ccuhost)
#   --ccu-port <n>   覆盖 mission 中 pPowerManger 的 CCU 端口 (ccuport)
#
# 板卡布局:
#   /root/work/h100/bin/        二进制（由 build-board.sh 板卡编译产出）
#   /root/work/h100/missions/   板卡 mission h100.moos
#   /root/work/h100/data/       数据库存储目录 (power_data.db 等)
#   /etc/systemd/system/        moosdb.service / pPowerManger.service /
#                               pPowerMangerHost.service / pCCU.service /
#                               pCanBridge.service / pMotor.service /
#                               pELoad.service
#=======================================================================
set -uo pipefail

SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
PROJECT_ROOT="$(dirname "${SCRIPT_DIR}")"

HOST="192.168.0.223"
USER="root"
BOARD_DIR="/root/work/h100"
DO_START=0
CCU_HOST=""
CCU_PORT=""

SERVICES=(moosdb pPowerManger pPowerMangerHost pCCU pCanBridge pMotor pELoad)

info() { printf '\033[1;36m[deploy]\033[0m %s\n' "$*"; }
ok()   { printf '\033[1;32m[deploy]\033[0m %s\n' "$*"; }
warn() { printf '\033[1;33m[deploy]\033[0m %s\n' "$*"; }
err()  { printf '\033[1;31m[deploy]\033[0m %s\n' "$*"; }

usage() {
  sed -n '2,35p' "${BASH_SOURCE[0]}" | sed 's/^# \{0,1\}//'
  exit 0
}

#-------------------------------------------------------------------
# 参数解析
#-------------------------------------------------------------------
ACTION=""
while [ $# -gt 0 ]; do
    case "$1" in
        --host)     [ $# -ge 2 ] || { err "--host 需要参数"; exit 1; }; HOST="$2"; shift 2 ;;
        --user)     [ $# -ge 2 ] || { err "--user 需要参数"; exit 1; }; USER="$2"; shift 2 ;;
        --board-dir)[ $# -ge 2 ] || { err "--board-dir 需要参数"; exit 1; }; BOARD_DIR="$2"; shift 2 ;;
        --start)    DO_START=1; shift ;;
        --ccu-host) [ $# -ge 2 ] || { err "--ccu-host 需要参数"; exit 1; }; CCU_HOST="$2"; shift 2 ;;
        --ccu-port) [ $# -ge 2 ] || { err "--ccu-port 需要参数"; exit 1; }; CCU_PORT="$2"; shift 2 ;;
        setup-ssh|status|stop|help|-h|--help) ACTION="$1"; shift ;;
        "") shift ;;
        *) err "未知参数: $1（见 help）"; exit 1 ;;
    esac
done
[ -n "${ACTION}" ] || ACTION="deploy"

case "${CCU_PORT}" in
    ""|*[!0-9]*) [ -z "${CCU_PORT}" ] || { err "--ccu-port 必须是数字端口: ${CCU_PORT}"; exit 1; } ;;
esac

SSH_TARGET="${USER}@${HOST}"
SSH="ssh -o BatchMode=yes -o ConnectTimeout=5"
SCP="scp -o BatchMode=yes -o ConnectTimeout=5"

#-------------------------------------------------------------------
# 命令: setup-ssh
#-------------------------------------------------------------------
cmd_setup_ssh() {
    local key="$HOME/.ssh/id_ed25519"
    if [ ! -f "${key}" ]; then
        info "未发现 SSH key，生成 ed25519 key ..."
        mkdir -p "$HOME/.ssh" && chmod 700 "$HOME/.ssh"
        ssh-keygen -t ed25519 -N '' -f "${key}"
    fi
    info "上传公钥到 ${SSH_TARGET}（会提示输入密码，仅此一次）..."
    ssh-copy-id -o ConnectTimeout=5 "${SSH_TARGET}"
    ok "免密 SSH 已配置。验证: ssh ${SSH_TARGET}"
}

#-------------------------------------------------------------------
# 前置检查
#-------------------------------------------------------------------
check_ssh() {
    if ! ${SSH} "${SSH_TARGET}" 'true' 2>/dev/null; then
        err "无法免密 SSH 到 ${SSH_TARGET}"
        err "请先执行: ./scripts/deploy.sh setup-ssh"
        return 1
    fi
    ok "SSH 连接正常: ${SSH_TARGET}"
}

#-------------------------------------------------------------------
# 生成 systemd unit（含板卡绝对路径）
#-------------------------------------------------------------------
gen_moosdb_unit() {
    # MOOSDB 路径在板卡探测；探测失败给出提示
    local moosdb_bin
    moosdb_bin="$(${SSH} "${SSH_TARGET}" 'command -v MOOSDB || true' 2>/dev/null)"
    if [ -z "${moosdb_bin}" ]; then
        moosdb_bin="$(command -v MOOSDB || true)"
        warn "板卡未在 PATH 找到 MOOSDB，回退本机路径 ${moosdb_bin:-"(未找到)"}"
        [ -n "${moosdb_bin}" ] || { err "MOOSDB 路径未知，无法生成 moosdb.service"; return 1; }
    fi
    ok "MOOSDB 路径: ${moosdb_bin}" >&2

    cat <<EOF
[Unit]
Description=MOOSDB for H100 Power Manager
After=network.target

[Service]
Type=simple
ExecStart=${moosdb_bin} --moos_no_colour ${BOARD_DIR}/missions/h100.moos
Restart=on-failure
RestartSec=5

[Install]
WantedBy=multi-user.target
EOF
}

gen_app_unit() {
    local app="$1" deps=""
    [ "${app}" = "moosdb" ] || deps="After=moosdb.service\nRequires=moosdb.service"
    cat <<EOF
[Unit]
Description=${app} for H100 Power Manager
$(printf '%b' "${deps}")

[Service]
Type=simple
WorkingDirectory=${BOARD_DIR}/bin
ExecStart=${BOARD_DIR}/bin/${app} --alias=${app} ${BOARD_DIR}/missions/h100.moos
Restart=on-failure
RestartSec=5

[Install]
WantedBy=multi-user.target
EOF
}

#-------------------------------------------------------------------
# mission 中插入/替换 "key = value"（键已存在则替换，否则插到第一个
# 顶层 '}' 之前，即 pPowerManger 配置块末尾）
#-------------------------------------------------------------------
upsert_moos_param() {
    local f="$1" key="$2" val="$3"
    if grep -qE "^[[:space:]]*${key}[[:space:]]*=" "${f}"; then
        sed -i -E "s|^([[:space:]]*)${key}[[:space:]]*=.*|\1${key} = ${val}|" "${f}"
    else
        awk -v kv="   ${key} = ${val}" \
            '!d && /^[[:space:]]*}[[:space:]]*$/ { print kv; d=1 } { print }' \
            "${f}" > "${f}.tmp" && mv "${f}.tmp" "${f}"
    fi
}

#-------------------------------------------------------------------
# 命令: deploy
#-------------------------------------------------------------------
cmd_deploy() {
    check_ssh || return 1
    [ -f "${PROJECT_ROOT}/missions/h100.moos" ] || { err "缺少板卡 mission: missions/h100.moos"; return 1; }

    # 1. 创建板卡目录 + 推送 mission
    info "创建板卡目录 ${BOARD_DIR}/{bin,missions,data} ..."
    ${SSH} "${SSH_TARGET}" "mkdir -p ${BOARD_DIR}/bin ${BOARD_DIR}/missions ${BOARD_DIR}/data" || { err "创建目录失败"; return 1; }

    info "推送 mission h100.moos ..."
    local mission_src="${PROJECT_ROOT}/missions/h100.moos"
    local mission_push="${mission_src}" tmp_moos=""
    if [ -n "${CCU_HOST}" ] || [ -n "${CCU_PORT}" ]; then
        tmp_moos="$(mktemp)"
        cp "${mission_src}" "${tmp_moos}"
        [ -n "${CCU_HOST}" ] && upsert_moos_param "${tmp_moos}" ccuhost "${CCU_HOST}"
        [ -n "${CCU_PORT}" ] && upsert_moos_param "${tmp_moos}" ccuport "${CCU_PORT}"
        mission_push="${tmp_moos}"
        info "CCU 地址覆盖: ccuhost=${CCU_HOST:-<保持原值>} ccuport=${CCU_PORT:-<保持原值>}"
    fi
    ${SCP} -q "${mission_push}" \
              "${SSH_TARGET}:${BOARD_DIR}/missions/" || { err "推送 mission 失败"; [ -n "${tmp_moos}" ] && rm -f "${tmp_moos}"; return 1; }
    [ -n "${tmp_moos}" ] && rm -f "${tmp_moos}"

    ok "mission 已推送（二进制由 build-board.sh 在板卡编译部署）"

    # 2. 生成并安装 4 个 systemd unit
    local unit
    for s in "${SERVICES[@]}"; do
        info "生成 ${s}.service ..."
        if [ "${s}" = "moosdb" ]; then
            unit="$(gen_moosdb_unit)" || return 1
        else
            unit="$(gen_app_unit "${s}")"
        fi
        printf '%s\n' "${unit}" | ${SSH} "${SSH_TARGET}" "cat > /etc/systemd/system/${s}.service"
        ok "${s}.service 已安装"
    done

    # 3. daemon-reload（不 enable，不自启）
    info "systemctl daemon-reload ..."
    ${SSH} "${SSH_TARGET}" "systemctl daemon-reload && systemctl reset-failed ${SERVICES[*]} 2>/dev/null || true"
    ok "服务已安装但未启用自启（systemctl is-enabled 应输出 disabled）"

    # 4. 可选启动
    if [ "${DO_START}" = "1" ]; then
        cmd_start
    else
        echo ""
        info "部署完成。手动启动（或加 --start）:"
        echo "    systemctl start moosdb pPowerManger pPowerMangerHost pCCU pCanBridge pMotor pELoad"
        echo "    浏览器: http://${HOST}:18080 (上位机模拟)"
        echo "            http://${HOST}:8090  (pPowerManger)"
        echo "            http://${HOST}:8080  (pCCU)"
        echo "            http://${HOST}:18082 (pELoad)"
    fi
}

#-------------------------------------------------------------------
# 命令: start / status / stop
#-------------------------------------------------------------------
cmd_start() {
    info "启动服务 (moosdb -> pPowerManger / pPowerMangerHost / pCCU / pCanBridge / pMotor / pELoad) ..."
    ${SSH} "${SSH_TARGET}" "systemctl start moosdb && sleep 1 && \
        systemctl start pPowerManger pPowerMangerHost pCCU pCanBridge pMotor pELoad" || { err "启动失败"; return 1; }
    ok "服务已启动"
    cmd_status
}

cmd_status() {
    ${SSH} "${SSH_TARGET}" "systemctl --no-pager status ${SERVICES[*]}" || true
}

cmd_stop() {
    ${SSH} "${SSH_TARGET}" "systemctl stop pELoad pMotor pCanBridge pPowerMangerHost pPowerManger pCCU moosdb" && \
        ok "服务已停止" || err "停止服务失败"
}

#-------------------------------------------------------------------
# 命令入口
#-------------------------------------------------------------------
case "${ACTION}" in
    deploy)     cmd_deploy ;;
    setup-ssh)  cmd_setup_ssh ;;
    status)     cmd_status ;;
    stop)       cmd_stop ;;
    help|-h|--help) usage ;;
    *)          usage ;;
esac