#!/usr/bin/env bash
set -euo pipefail

ROOT="/home/mes006/linuxcncWebWASM"
LINUXCNC_ROOT="${ROOT}/linuxcnc"
SOURCE_CASE="${LINUXCNC_ROOT}/configs/sim/axis/vismach/3axis-tutorial"
PROGRAM_FILE="${LINUXCNC_ROOT}/nc_files/3dtest.ngc"

switch_to_english_input() {
    printf 'Switching input method to English before LinuxCNC startup...\n'
    if command -v ibus >/dev/null 2>&1; then
        if ibus engine xkb:us::eng >/dev/null 2>&1; then
            printf '  IBus engine: xkb:us::eng\n'
        else
            printf '  IBus English engine switch failed\n'
        fi
    fi
    if command -v gsettings >/dev/null 2>&1; then
        gsettings set org.gnome.desktop.input-sources sources "[('xkb', 'us'), ('ibus', 'libpinyin')]" >/dev/null 2>&1 || true
        gsettings set org.gnome.desktop.input-sources mru-sources "[('xkb', 'us'), ('ibus', 'libpinyin')]" >/dev/null 2>&1 || true
    fi
    if command -v setxkbmap >/dev/null 2>&1; then
        setxkbmap us >/dev/null 2>&1 || true
    fi
}

cleanup_linuxcnc() {
    local phase="${1:-cleanup}"
    printf 'Cleaning LinuxCNC simulation %s...\n' "${phase}"
    local command
    for command in "axis-remote --quit" "halcmd stop" "halcmd unload all" "/usr/lib/linuxcnc/realtime stop"; do
        if timeout 3s bash -lc "cd \"${LINUXCNC_ROOT}\" && ${command}" >/dev/null 2>&1; then
            printf '  cleanup passed: %s\n' "${command}"
        else
            printf '  cleanup skipped/failed: %s\n' "${command}"
        fi
    done

    local self_pid="$$" parent_pid="${PPID}" pid process_args
    while read -r pid process_args; do
        [[ -n "${pid:-}" ]] || continue
        [[ "${pid}" == "${self_pid}" || "${pid}" == "${parent_pid}" ]] && continue
        case "${process_args}" in
            *linuxcncsvr*|*milltask*|*motion-logger*|*rtapi_app*|*halui*|*iocontrol*|*/usr/bin/axis*|*/usr/bin/linuxcnc*|*/linuxcnc-*axis.*/*)
                printf '  stopping process %s: %s\n' "${pid}" "${process_args}"
                kill -TERM "${pid}" 2>/dev/null || true
                ;;
        esac
    done < <(ps -eo pid=,args=)

    local deadline=$((SECONDS + 3))
    while (( SECONDS < deadline )); do
        if ! ps -eo args= | rg -q 'linuxcncsvr|milltask|motion-logger|rtapi_app|halui|iocontrol|/usr/bin/axis|/usr/bin/linuxcnc'; then
            break
        fi
        sleep 0.1
    done
    while read -r pid process_args; do
        [[ -n "${pid:-}" ]] || continue
        [[ "${pid}" == "${self_pid}" || "${pid}" == "${parent_pid}" ]] && continue
        case "${process_args}" in
            *linuxcncsvr*|*milltask*|*motion-logger*|*rtapi_app*|*halui*|*iocontrol*|*/usr/bin/axis*|*/usr/bin/linuxcnc*|*/linuxcnc-*axis.*/*)
                kill -KILL "${pid}" 2>/dev/null || true
                ;;
        esac
    done < <(ps -eo pid=,args=)
    if [[ -e /tmp/linuxcnc.lock ]] && ! ps -eo args= | rg -q 'linuxcncsvr|milltask|motion-logger|rtapi_app|halui|iocontrol|/usr/bin/axis|/usr/bin/linuxcnc'; then
        rm -f -- /tmp/linuxcnc.lock
        printf '  removed stale lock: /tmp/linuxcnc.lock\n'
    fi
}

cleanup_linuxcnc "before startup"
switch_to_english_input
export GTK_IM_MODULE=ibus
export QT_IM_MODULE=ibus
export XMODIFIERS=@im=ibus

for required in "${SOURCE_CASE}/3axis-tutorial.ini" "${SOURCE_CASE}/3axis-tutorial.hal" \
    "${SOURCE_CASE}/3axis-tutorial" "${SOURCE_CASE}/tool.tbl" "${PROGRAM_FILE}"; do
    if [[ ! -f "${required}" ]]; then
        printf 'Required LinuxCNC file not found: %s\n' "${required}" >&2
        exit 1
    fi
done

RUNTIME_DIR="$(mktemp -d "${TMPDIR:-/tmp}/linuxcnc-3dtest-axis.XXXXXX")"
cleanup_done=0
cleanup() {
    if (( cleanup_done == 1 )); then
        return
    fi
    cleanup_done=1
    cleanup_linuxcnc "after exit"
    rm -rf -- "${RUNTIME_DIR}"
}
trap cleanup EXIT INT TERM

for name in 3axis-tutorial.ini 3axis-tutorial.hal 3axis-tutorial tool.tbl; do
    cp -- "${SOURCE_CASE}/${name}" "${RUNTIME_DIR}/${name}"
done
chmod +x "${RUNTIME_DIR}/3axis-tutorial"

# The tutorial model uses millimetres, while 3dtest.ngc reaches Z=1.75in.
# Keep this limit change local to the temporary runtime copy.
sed -i \
    -e "s|^PROGRAM_PREFIX.*|PROGRAM_PREFIX = ${LINUXCNC_ROOT}/nc_files|" \
    -e "s|^OPEN_FILE.*|OPEN_FILE = ${PROGRAM_FILE}|" \
    -e '/^MAX_FEED_OVERRIDE/a HOMING_PROMPT = 1' \
    -e '/^\[AXIS_Z\]/,/^\[/ s/^MAX_LIMIT[[:space:]]*=.*/MAX_LIMIT = 100.0/' \
    -e '/^\[JOINT_2\]/,/^\[/ s/^MAX_LIMIT[[:space:]]*=.*/MAX_LIMIT = 100.0/' \
    "${RUNTIME_DIR}/3axis-tutorial.ini"

cd "${LINUXCNC_ROOT}"
update_ini -f "${RUNTIME_DIR}/3axis-tutorial.ini" >/dev/null
export AXIS_OPEN_FILE="${PROGRAM_FILE}"

printf 'Starting LinuxCNC AXIS simulation. Load: %s\n' "${PROGRAM_FILE}"
printf 'Manual sequence: reset E-stop, power on, accept the homing prompt, then press Run.\n'
printf 'If no prompt appears: select X, Y, and Z in turn and click Home Axis for each.\n'
/usr/bin/linuxcnc -r "${RUNTIME_DIR}/3axis-tutorial.ini"