#!/usr/bin/env bash
#
# jetson-test.sh — run the full `cargo test --workspace` on the
# production-target Jetson via Docker (Dockerfile.test).
#
# Why this exists: the autopilot workspace depends on `opencv`,
# `ffmpeg-next`, `tonic`/`prost`, and `libclang` at build time. The
# macOS dev box does not always have native OpenCV / FFmpeg headers
# installed, and the production target is a Jetson Orin Nano Super
# running JetPack 6 (Ubuntu 22.04 aarch64). This script bridges the
# two by rsync-ing the source to the Jetson and running tests inside
# a container that mirrors the production environment exactly.
#
# Prerequisites:
#   - `ssh <SSH_HOST>` works passwordlessly (key-based auth).
#   - The remote user is in the `docker` group (no sudo for `docker`).
#   - `rsync` is available locally.
#
# Usage:
#   scripts/jetson-test.sh                    # full suite, default host
#   SSH_HOST=other-jetson scripts/jetson-test.sh
#   scripts/jetson-test.sh -p movement_detector -p semantic_analyzer
#
# Any args passed after the script name are forwarded to `cargo test`
# inside the container (the default is the workspace suite).
#
# Exit code: forwarded from `cargo test` inside the container.

set -euo pipefail

SSH_HOST="${SSH_HOST:-jetson-e2e}"
REMOTE_DIR="${REMOTE_DIR:-/home/jetson/autopilot}"
IMAGE_TAG="${IMAGE_TAG:-autopilot-test}"
DOCKERFILE="${DOCKERFILE:-Dockerfile.test}"

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

cd "${REPO_ROOT}"

log() {
    printf '\n\033[1;34m[jetson-test]\033[0m %s\n' "$*"
}

log "Sync source to ${SSH_HOST}:${REMOTE_DIR} (excluding target/, .git/)"
ssh "${SSH_HOST}" "mkdir -p '${REMOTE_DIR}'"
rsync -az --delete \
    --exclude='target/' \
    --exclude='.git/' \
    --exclude='.DS_Store' \
    --exclude='*.swp' \
    --exclude='node_modules/' \
    ./ "${SSH_HOST}:${REMOTE_DIR}/"

log "Build test image ${IMAGE_TAG} on ${SSH_HOST} (may take 10-20 min on first run)"
ssh "${SSH_HOST}" "cd '${REMOTE_DIR}' && docker build --pull -t '${IMAGE_TAG}' -f '${DOCKERFILE}' ."

if [[ $# -gt 0 ]]; then
    log "Running: cargo test $*"
    ssh "${SSH_HOST}" \
        "cd '${REMOTE_DIR}' && docker run --rm \
            -v '${REMOTE_DIR}:/workspace' \
            -w /workspace \
            '${IMAGE_TAG}' \
            cargo test $*"
else
    log "Running default: cargo test --workspace --no-fail-fast --color always"
    ssh "${SSH_HOST}" \
        "cd '${REMOTE_DIR}' && docker run --rm \
            -v '${REMOTE_DIR}:/workspace' \
            -w /workspace \
            '${IMAGE_TAG}'"
fi