#!/bin/bash -e
# Pi-5 fixes baked into the image, kept outside the Python package so daemon updates don't wipe them.

echo "Fix 1/3: motor port -> /dev/ttyAMA3 (udev)"
install -d -m 0755 /etc/udev/rules.d
cat > /etc/udev/rules.d/99-reachy-pi5-motor.rules <<'RULE'
# /dev/ttyAMA3 = whichever motor bus exists (USB controller, or GPIO uart2)
SUBSYSTEM=="tty", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d3", SYMLINK+="ttyAMA3", GROUP="dialout", MODE="0660"
KERNEL=="ttyAMA2", SYMLINK+="ttyAMA3", GROUP="dialout", MODE="0660"
RULE

echo "Fix 2/3: shutdown button -> gpiozero lgpio backend"
install -d -m 0755 /etc/systemd/system/gpio-shutdown-daemon.service.d
cat > /etc/systemd/system/gpio-shutdown-daemon.service.d/10-pi5-lgpio.conf <<'DROP'
[Service]
Environment=GPIOZERO_PIN_FACTORY=lgpio
DROP
source /opt/uv/env 2>/dev/null || true
if [ -f /venvs/mini_daemon/bin/activate ]; then
  source /venvs/mini_daemon/bin/activate
  uv pip install lgpio || pip install lgpio || true
fi

echo "Fix 3/3: USB camera"
# free the camera from libcamera so the v4l2 path works
for plugin in /usr/local/lib/*/gstreamer-1.0/libgstlibcamera.so /usr/lib/*/gstreamer-1.0/libgstlibcamera.so; do
  [ -f "$plugin" ] && mv "$plugin" "$plugin.disabled" || true
done
# fallback: find the camera ourselves if the daemon's detection returns nothing
cat > /venvs/mini_daemon/lib/python3.12/site-packages/sitecustomize.py <<'PY'
# ReachyPi: scan /dev/video* when get_video_device() finds no camera
import sys
def _camera_fallback():
    try:
        from reachy_mini.media import device_detection as dd
    except Exception:
        return
    original = dd.get_video_device
    def patched():
        try:
            path, specs = original()
            if path:
                return path, specs
        except Exception:
            pass
        import glob, subprocess, platform
        if platform.system() != "Linux":
            return "", None
        for dev in sorted(glob.glob("/dev/video*")):
            try:
                info = subprocess.run(["v4l2-ctl", "-d", dev, "--info"], capture_output=True, text=True, timeout=3).stdout
                fmts = subprocess.run(["v4l2-ctl", "-d", dev, "--list-formats-ext"], capture_output=True, text=True, timeout=3).stdout
            except Exception:
                continue
            if "Reachy" in info and "MJPG" in fmts:
                sys.stderr.write("camera fallback: %s\n" % dev)
                return dev, dd._make_camera_specs("Reachy")
        return "", None
    dd.get_video_device = patched
_camera_fallback()
PY

echo "Pi-5 fixes applied."