#!/usr/bin/env bash
# Deploy SLAM stéréo sur Raspberry Pi via SSH/rsync
# Usage: bash deploy_pi.sh <IP_PI>

set -e

# --- Variables ---
PI_USER="pi"
PI_PASS="raspberry"
PI_DEST="/home/pi/slam_stereo"
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
PROJECT_DIR="$(dirname "$SCRIPT_DIR")"

# --- Argument ---
if [ -z "$1" ]; then
    echo "[ERREUR] Usage: $0 <IP_PI>"
    echo "Exemple: $0 192.168.2.2"
    exit 1
fi
PI_HOST="$1"

echo "[INFO] Déploiement vers $PI_USER@$PI_HOST:$PI_DEST"

# --- Test connectivité ---
echo "[INFO] Test SSH..."
if ! sshpass -p "$PI_PASS" ssh -o StrictHostKeyChecking=no \
    -o ConnectTimeout=5 "$PI_USER@$PI_HOST" "echo 'SSH OK'" 2>/dev/null; then
    echo "[ERREUR] Impossible de se connecter à $PI_HOST"
    echo "[INFO] Vérifier: IP correcte, Pi allumé, sshpass installé"
    exit 1
fi

# --- Créer dossiers sur Pi ---
echo "[INFO] Création des dossiers..."
sshpass -p "$PI_PASS" ssh -o StrictHostKeyChecking=no "$PI_USER@$PI_HOST" \
    "mkdir -p $PI_DEST/{src/calibration,src/slam,src/interface,config}"

# --- Rsync src/ ---
echo "[INFO] Transfert src/..."
sshpass -p "$PI_PASS" rsync -avz --progress \
    -e "ssh -o StrictHostKeyChecking=no" \
    "$PROJECT_DIR/src/" \
    "$PI_USER@$PI_HOST:$PI_DEST/src/"

# --- Rsync config/ ---
echo "[INFO] Transfert config/..."
sshpass -p "$PI_PASS" rsync -avz --progress \
    -e "ssh -o StrictHostKeyChecking=no" \
    "$PROJECT_DIR/config/" \
    "$PI_USER@$PI_HOST:$PI_DEST/config/" 2>/dev/null || echo "[WARN] config/ vide, skip"

# --- Install dépendances Python ---
echo "[INFO] Installation dépendances Python..."
sshpass -p "$PI_PASS" ssh -o StrictHostKeyChecking=no "$PI_USER@$PI_HOST" bash << 'REMOTE'
    set -e
    pip3 install --upgrade pip --quiet
    pip3 install opencv-python flask numpy pyyaml --quiet
    echo "[OK] Dépendances installées"
REMOTE

# --- Test Flask ---
echo "[INFO] Test Flask..."
sshpass -p "$PI_PASS" ssh -o StrictHostKeyChecking=no "$PI_USER@$PI_HOST" \
    "cd $PI_DEST && python3 -c 'import flask, cv2, numpy, yaml; print(\"[OK] Imports OK\")'"

echo ""
echo "=== DEPLOY TERMINÉ ==="
echo "Interface web: http://$PI_HOST:5000"
echo "Démarrage manuel:"
echo "  ssh $PI_USER@$PI_HOST"
echo "  cd $PI_DEST && python3 src/interface/app.py"
echo ""
echo "Note BlueOS: utiliser aussi le Dockerfile pour extension native"