#!/bin/bash
# 检查到未定义的变量则停止执行并报错
set -u

# 检查参数数量
if [ "$#" -ne 2 ]; then
  echo "Error: Incorrect number of arguments"
  echo "Usage: $0 CONTAINER_NAME DOWNLOAD_FILE_PATH"
  exit 1
fi

CONTAINER_NAME=$1
DOWNLOAD_FILE_PATH=$2
MAP_UPDATE_PATH="/home/cicv/work/pji_desktop/map_update"
UPDATE_DATA_PATH="$MAP_UPDATE_PATH/data"
MAP_UPDATE_LOG_PATH="$MAP_UPDATE_PATH/logs/map_update.log"
MAP_UPDATE_FINISH_FLAG="Result JSON file created"
# 容器内路径
CONTAINER_WORKSPACE="/home/cartographer_detailed_comments_ws-master"

# 清除历史文件
## 检查要删除的目录是否为空
if [[ -z "$UPDATE_DATA_PATH" ]]; then
  echo "Error: Variable UPDATE_DATA_PATH is not set or empty"
  exit 1
fi
## 删除对应目录
sudo safe-rm -rf "$UPDATE_DATA_PATH"/*

# 解压地图更新对应的压缩包
unzip "$DOWNLOAD_FILE_PATH" -d "$UPDATE_DATA_PATH"
# 解压原始地图
unzip "$UPDATE_DATA_PATH/origin_map_folder"/*.zip -d "$UPDATE_DATA_PATH/origin_map_folder/zip_folder"
cp "$UPDATE_DATA_PATH/origin_map_folder/zip_folder/map.yaml" "$UPDATE_DATA_PATH/origin_map_folder/"
safe-rm "$UPDATE_DATA_PATH/origin_map_folder"/*.zip

# 检查容器启动状态
if [ "$(docker inspect -f '{{.State.Running}}' $CONTAINER_NAME)" = "true" ]; then
  echo "Container $CONTAINER_NAME is already running."
else
  echo "Starting container $CONTAINER_NAME..."
  docker start "$CONTAINER_NAME"
fi

command="source $CONTAINER_WORKSPACE/devel_isolated/setup.sh && $CONTAINER_WORKSPACE/build_map.sh $CONTAINER_WORKSPACE/config.json"
# 容器内执行地图更新脚本
nohup docker exec "$CONTAINER_NAME" /bin/bash -c "$command" > "$MAP_UPDATE_LOG_PATH" 2>&1 &

# 检查地图更新是否完成
tail -F "$MAP_UPDATE_LOG_PATH" | while read LINE; do
#  echo "$LINE"
  # 检查录包完成标志
  if echo "$LINE" | grep -q "$MAP_UPDATE_FINISH_FLAG"; then # 已完成
    # pgm转换为png
    python "$MAP_UPDATE_PATH/convert_pgm_to_png.py" "$UPDATE_DATA_PATH/bag_folder/mapBuf/map.pgm" "$UPDATE_DATA_PATH/bag_folder/mapBuf/map_pre.png"
#    python "$MAP_UPDATE_PATH/convert_pgm_to_png.py" "$UPDATE_DATA_PATH/bag_folder/update_map"/*.pgm "$UPDATE_DATA_PATH/bag_folder/update_map/map_update.png"
    python "$MAP_UPDATE_PATH/convert_pgm_to_png.py" "$UPDATE_DATA_PATH/bag_folder/update_map"/*.pgm "$UPDATE_DATA_PATH/bag_folder/mapBuf/map_update.png"

    # 用更新后的pgm 替换 原始地图pgm
    sudo cp "$UPDATE_DATA_PATH/bag_folder/update_map"/*.pgm "$UPDATE_DATA_PATH/origin_map_folder/zip_folder"/map.pgm
    # 打包成新的地图压缩包
    sudo zip -j "$UPDATE_DATA_PATH"/update.zip "$UPDATE_DATA_PATH/origin_map_folder/zip_folder"/*

    echo "$MAP_UPDATE_FINISH_FLAG"
    break
  fi
done