#!/bin/bash
#=======================================================================
# FILE:  scripts/build-board.sh
# DESC:  把源码同步到目标板卡 (RK3588 / Ubuntu 22.04)，在板卡原生编译
#        （aarch64 直编，比本地 QEMU 模拟快约 10 倍），并把产物部署到
#        /root/work/h100/bin/，可选重启 systemd 服务。
#
# 用法:
#   ./scripts/build-board.sh                       # 同步+编译+部署（不重启）
#   ./scripts/build-board.sh --start               # 编译后重启全部服务（含 pCanBridge/pMotor/pELoad）
#   ./scripts/build-board.sh --clean               # 板卡上重新 cmake 再编译
#   ./scripts/build-board.sh --jobs 4              # 指定并行度（默认板卡 nproc）
#
# 参数:
#   --host <ip>      目标主机（默认 192.168.0.223）
#   --user <user>    登录用户（默认 root）
#   --board-src <dir> 板卡源码目录（默认 /root/work/h100/src）
#   --board-bin <dir> 板卡部署目录（默认 /root/work/h100/bin）
#   --jobs <n>       编译并行度（默认板卡 nproc）
#   --start          编译部署后重启服务
#   --clean          先重新 cmake（配置变更时用）
#   --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)
#   -h, --help       显示帮助
#
# 前置: 板卡已配免密 SSH，且有编译环境（cmake/g++/MOOS/jsoncpp），
#       源码已能本地编译（本脚本只负责同步+板卡编译）。
#
# !!!! 板卡网络配置（2026-08-26 联调定型，勿随意修改） !!!!
#
# 板卡与 FC 的组网为"单网卡 + /23 掩码"方案（依据《超滑FC和复合管控器
# 通讯协议-0821》1.1.1：CCU 192.168.0.140/23 <-> FC 192.168.1.162）：
#
#   enP3p49s0  192.168.0.223/23 (255.255.254.0)  <- 唯一业务网口，接交换机
#               /23 使 192.168.0.x 与 192.168.1.x 同子网直达，
#               FC(192.168.1.162) 无需网关即可互通。
#               NM 配置档案: "有线连接 1"（静态 manual，已持久化）
#   enP4p65s0  已弃用（旧双网卡方案的 FC 专口，物理链路已断）
#   回环 lo    pPowerManger(5001) <-> pCCU(7000) 同机 UDP 互通
#
# 关联端口:
#   FC 状态:  FC:7000 -> 板卡:6000 (pCCU 监听)
#   FC 控制:  板卡:6000 -> FC:7000 (pCCU 发送)
#   PM 指令:  pPowerManger:5001 -> pCCU:7000 (127.0.0.1，
#             见 missions/h100.moos ccuhost/ccuport，默认值在 PowerManger.h CCUHOST)
#   PM 状态:  pCCU:7000 -> pPowerManger:5001 (127.0.0.1)
#
# 排障提示:
#   - 若收不到 FC 状态，先在板卡上 `ethtool enP3p49s0` 看 Link detected，
#     再 `ping 192.168.1.162`；ping 不通通常是物理链路/交换机问题，
#     不要改回 /24 掩码或启用 enP4p65s0 来"修"网络。
#   - 改 IP/掩码须用 `nmcli con mod "有线连接 1" ...` 持久化，
#     并保持掩码 /23。
#=======================================================================

set -uo pipefail

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

HOST="192.168.0.223"
USER="root"
BOARD_SRC="/root/work/h100/src"
BOARD_BIN="/root/work/h100/bin"
JOBS=""
DO_START=0
DO_CLEAN=0
CCU_HOST=""
CCU_PORT=""

SERVICES=(moosdb pPowerManger pPowerMangerHost pCCU pCanBridge pMotor pELoad)

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

usage() {
  sed -n '2,31p' "${BASH_SOURCE[0]}" | sed 's/^# \{0,1\}//'
  exit 0
}

#-------------------------------------------------------------------
# 参数解析
#-------------------------------------------------------------------
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-src) [ $# -ge 2 ] || { err "--board-src 需要参数"; exit 1; }; BOARD_SRC="$2"; shift 2 ;;
        --board-bin) [ $# -ge 2 ] || { err "--board-bin 需要参数"; exit 1; }; BOARD_BIN="$2"; shift 2 ;;
        --jobs)      [ $# -ge 2 ] || { err "--jobs 需要参数"; exit 1; }; JOBS="$2"; shift 2 ;;
        --start)     DO_START=1; shift ;;
        --clean)     DO_CLEAN=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 ;;
        -h|--help)   usage ;;
        *)           err "未知参数: $1（见 --help）"; exit 1 ;;
    esac
done

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

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

#-------------------------------------------------------------------
# 1. 前置检查
#-------------------------------------------------------------------
if ! ${SSH} "${SSH_TARGET}" 'true' 2>/dev/null; then
    err "无法免密 SSH 到 ${SSH_TARGET}"
    err "请先配置免密登录: ssh-copy-id ${SSH_TARGET}"
    exit 1
fi
ok "SSH 连接正常: ${SSH_TARGET}"

#-------------------------------------------------------------------
# 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
}

#-------------------------------------------------------------------
# 2. 同步源码到板卡（排除构建产物 / git / 数据）
#-------------------------------------------------------------------
info "同步源码到板卡 ${BOARD_SRC} ..."
rsync -az --delete \
    --exclude='build/' \
    --exclude='build-arm64/' \
    --exclude='build-native/' \
    --exclude='build-nosa-test/' \
    --exclude='bin/' \
    --exclude='.git/' \
    --exclude='.cache/' \
    --exclude='.kilo/' \
    --exclude='.vscode/' \
    --exclude='docs/' \
    --exclude='reports/' \
    --exclude='*.log' \
    --exclude='*.db' \
    --exclude='CMakeCache.txt' \
    "${PROJECT_ROOT}/" "${SSH_TARGET}:${BOARD_SRC}/" || { err "rsync 源码失败"; exit 1; }
ok "源码已同步"

if [ -f "${PROJECT_ROOT}/missions/h100.moos" ]; then
    info "同步 mission h100.moos ..."
    local_mission="${PROJECT_ROOT}/missions/h100.moos"
    tmp_moos=""
    if [ -n "${CCU_HOST}" ] || [ -n "${CCU_PORT}" ]; then
        tmp_moos="$(mktemp)"
        cp "${local_mission}" "${tmp_moos}"
        [ -n "${CCU_HOST}" ] && upsert_moos_param "${tmp_moos}" ccuhost "${CCU_HOST}"
        [ -n "${CCU_PORT}" ] && upsert_moos_param "${tmp_moos}" ccuport "${CCU_PORT}"
        local_mission="${tmp_moos}"
        info "CCU 地址覆盖: ccuhost=${CCU_HOST:-<保持原值>} ccuport=${CCU_PORT:-<保持原值>}"
    fi
    rsync -az "${local_mission}" \
        "${SSH_TARGET}:/root/work/h100/missions/h100.moos" || { err "rsync mission 失败"; [ -n "${tmp_moos}" ] && rm -f "${tmp_moos}"; exit 1; }
    [ -n "${tmp_moos}" ] && rm -f "${tmp_moos}"
    ok "mission 已同步"
fi

#-------------------------------------------------------------------
# 3. 板卡原生编译
#-------------------------------------------------------------------
if [ "${DO_CLEAN}" = "1" ]; then
    info "重新 cmake（--clean）..."
    ${SSH} "${SSH_TARGET}" "rm -rf ${BOARD_SRC}/build-native && mkdir -p ${BOARD_SRC}/build-native && \
        cd ${BOARD_SRC}/build-native && cmake -DCMAKE_BUILD_TYPE=Release .." \
        || { err "cmake 失败"; exit 1; }
    ok "cmake 完成"
else
    ${SSH} "${SSH_TARGET}" "mkdir -p ${BOARD_SRC}/build-native"
    # 若首次未配置过则先 cmake
    if ! ${SSH} "${SSH_TARGET}" "[ -f ${BOARD_SRC}/build-native/Makefile ]"; then
        info "首次编译，先 cmake ..."
        ${SSH} "${SSH_TARGET}" "cd ${BOARD_SRC}/build-native && cmake -DCMAKE_BUILD_TYPE=Release .." \
            || { err "cmake 失败"; exit 1; }
        ok "cmake 完成"
    fi
fi

if [ -z "${JOBS}" ]; then
    JOBS="$(${SSH} "${SSH_TARGET}" nproc)"
fi

info "板卡编译 (make -j${JOBS}) ..."
if ! ${SSH} "${SSH_TARGET}" "cd ${BOARD_SRC}/build-native && make -j${JOBS}"; then
    err "板卡编译失败（见上方输出）"
    exit 1
fi
ok "板卡编译完成"

#-------------------------------------------------------------------
# 4. 部署产物到板卡运行目录
#-------------------------------------------------------------------
info "部署产物到 ${BOARD_BIN}/ ..."
${SSH} "${SSH_TARGET}" "mkdir -p ${BOARD_BIN} && \
    cp -f ${BOARD_SRC}/bin/pPowerManger ${BOARD_BIN}/pPowerManger && \
    cp -f ${BOARD_SRC}/bin/pPowerMangerHost ${BOARD_BIN}/pPowerMangerHost && \
    cp -f ${BOARD_SRC}/bin/pCCU ${BOARD_BIN}/pCCU && \
    cp -f ${BOARD_SRC}/bin/pCanBridge ${BOARD_BIN}/pCanBridge && \
    cp -f ${BOARD_SRC}/bin/pMotor ${BOARD_BIN}/pMotor && \
    cp -f ${BOARD_SRC}/bin/pELoad ${BOARD_BIN}/pELoad && \
    chmod +x ${BOARD_BIN}/pPowerManger ${BOARD_BIN}/pPowerMangerHost ${BOARD_BIN}/pCCU ${BOARD_BIN}/pCanBridge ${BOARD_BIN}/pMotor ${BOARD_BIN}/pELoad" \
    || { err "部署产物失败"; exit 1; }
ok "产物已部署"

#-------------------------------------------------------------------
# 4.5 安装/刷新 pCanBridge systemd unit（幂等，其它 5 个 unit 已装）
#-------------------------------------------------------------------
info "安装 pCanBridge.service ..."
${SSH} "${SSH_TARGET}" "cat > /etc/systemd/system/pCanBridge.service" <<EOF
[Unit]
Description=pCanBridge for H100 Power Manager
After=moosdb.service
Requires=moosdb.service

[Service]
Type=simple
WorkingDirectory=${BOARD_BIN}
ExecStart=${BOARD_BIN}/pCanBridge --alias=pCanBridge /root/work/h100/missions/h100.moos
Restart=on-failure
RestartSec=5

[Install]
WantedBy=multi-user.target
EOF
${SSH} "${SSH_TARGET}" "systemctl daemon-reload && systemctl reset-failed pCanBridge 2>/dev/null || true"
ok "pCanBridge.service 已安装"

#-------------------------------------------------------------------
# 4.6 安装/刷新 pMotor systemd unit（幂等）
#-------------------------------------------------------------------
info "安装 pMotor.service ..."
${SSH} "${SSH_TARGET}" "cat > /etc/systemd/system/pMotor.service" <<EOF
[Unit]
Description=pMotor Propulsion Motor for H100 Power Manager
After=moosdb.service pCanBridge.service
Requires=moosdb.service

[Service]
Type=simple
WorkingDirectory=${BOARD_BIN}
ExecStart=${BOARD_BIN}/pMotor --alias=pMotor /root/work/h100/missions/h100.moos
Restart=on-failure
RestartSec=5

[Install]
WantedBy=multi-user.target
EOF
${SSH} "${SSH_TARGET}" "systemctl daemon-reload && systemctl reset-failed pMotor 2>/dev/null || true"
ok "pMotor.service 已安装"

#-------------------------------------------------------------------
# 4.7 安装/刷新 pELoad systemd unit（幂等）
#     电子负载（IT6000C）控制程序：以太网直连设备，不依赖 pCanBridge
#-------------------------------------------------------------------
info "安装 pELoad.service ..."
${SSH} "${SSH_TARGET}" "cat > /etc/systemd/system/pELoad.service" <<EOF
[Unit]
Description=pELoad Electronic Load (IT6000C) for H100 Power Manager
After=moosdb.service
Requires=moosdb.service

[Service]
Type=simple
WorkingDirectory=${BOARD_BIN}
ExecStart=${BOARD_BIN}/pELoad --alias=pELoad /root/work/h100/missions/h100.moos
Restart=on-failure
RestartSec=5

[Install]
WantedBy=multi-user.target
EOF
${SSH} "${SSH_TARGET}" "systemctl daemon-reload && systemctl reset-failed pELoad 2>/dev/null || true"
ok "pELoad.service 已安装"

echo ""
ok "产物: ${BOARD_BIN}/pPowerManger (aarch64)"
${SSH} "${SSH_TARGET}" "file ${BOARD_BIN}/pPowerManger | cut -c1-60"

#-------------------------------------------------------------------
# 5. 可选重启服务
#-------------------------------------------------------------------
if [ "${DO_START}" = "1" ]; then
    info "重启服务 ..."
    ${SSH} "${SSH_TARGET}" "systemctl restart ${SERVICES[*]}" \
        || { err "重启服务失败"; exit 1; }
    sleep 3
    ok "服务状态: $(${SSH} "${SSH_TARGET}" "systemctl is-active ${SERVICES[*]}")"
else
    echo ""
    info "未重启服务。需要重启请加 --start 或手动:"
    echo "    systemctl restart ${SERVICES[*]}"
fi

echo ""
ok "完成。"