#!/bin/bash

# Script to restart the robotwin_daemon.py process
# Requirements: Uses conda RoboTwin environment and checks for existing processes

# Get the project root directory (parent of daemon directory)
PROJECT_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && cd .. && pwd)"
echo "Project root: $PROJECT_ROOT"

# Check if robotwin_daemon.py is already running
echo "Checking for existing robotwin_daemon.py processes..."
PIDS=$(ps aux | grep "[p]ython.*robotwin_daemon\.py" | awk '{print $2}')

if [ -n "$PIDS" ]; then
    echo "Found robotwin_daemon.py process(es) with PID(s): $PIDS"
    echo "Killing existing process(es)..."
    
    # Loop through each PID and kill it
    for PID in $PIDS; do
        echo "Killing process with PID: $PID"
        kill $PID
        sleep 1
        
        # Check if process was killed successfully
        if ps -p $PID > /dev/null; then
            echo "Process $PID did not terminate gracefully, using kill -9..."
            kill -9 $PID
            sleep 1
            
            # Final check
            if ps -p $PID > /dev/null; then
                echo "Warning: Failed to kill process $PID"
            else
                echo "Process $PID terminated."
            fi
        else
            echo "Process $PID terminated."
        fi
    done
else
    echo "No existing robotwin_daemon.py process found."
fi

# Remove any existing socket file
SOCKET_PATH="/tmp/robotwin.sock"
if [ -S "$SOCKET_PATH" ]; then
    echo "Removing existing socket file: $SOCKET_PATH"
    rm "$SOCKET_PATH"
fi

# Activate conda environment and start the daemon
echo "Starting robotwin_daemon.py with conda RoboTwin environment..."

# Get conda base path
CONDA_BASE=$(conda info --base)

# Start the daemon in the background using conda run to ensure it runs in the RoboTwin environment
cd "$PROJECT_ROOT/daemon"
"$CONDA_BASE/bin/conda" run -n RoboTwin python robotwin_daemon.py > "$PROJECT_ROOT/daemon/daemon.log" 2>&1 &

# Get the PID of the new process
NEW_PID=$!
echo "Started robotwin_daemon.py with PID: $NEW_PID"

# Wait a moment and check if the process is running
sleep 2
if ps -p $NEW_PID > /dev/null; then
    echo "Daemon started successfully."
else
    echo "Failed to start daemon. Check daemon.log for details."
    exit 1
fi

echo "Restart completed successfully."