fp ?= 1 
lp ?= 0
name ?= edu3

# args = $(filter-out $@,$(MAKECMDGOALS))

# Start existing docker container 
# usage: make start e=<CONTAINER NAME>
start:
# 	pactl load-module module-native-protocol-tcp auth-ip-acl=127.0.0.1
	make audio-set-host
	sudo docker start -i $(name)

# Run new docker container using existing image
# usage: make start e=<CONTAINER NAME>
run: 
	@# docker run --rm -it --gpus all -v "$$PWD":"/home/" -w /home --name ros nvidia/cuda:13.2.0-cudnn-devel-ubuntu24.04
	@# sudo docker run -it --gpus all --runtime=nvidia -v "$$PWD":"/home/" -w /home --name edurobot ros-ubuntu24
	@# sudo docker run -it --gpus all -v "$$PWD":"/home/" -w /home --name edurobot ros-ubuntu22
	@# -v $$XDG_RUNTIME_DIR/pulse/native:/tmp/runtime-dir/pulse/native:ro \

	sudo docker run -it \
		--gpus all \
		\
		--net host --privileged \
		--volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
		--device /dev/dri:/dev/dri \
		-v /dev:/dev \
		\
		-e DISPLAY=$$DISPLAY \
		-e WAYLAND_DISPLAY=$$WAYLAND_DISPLAY \
		-e XDG_RUNTIME_DIR=/tmp/runtime-dir \
		-v $$XDG_RUNTIME_DIR/$$WAYLAND_DISPLAY:/tmp/runtime-dir/$$WAYLAND_DISPLAY:ro \
		-v $$XDG_RUNTIME_DIR/pulse:/tmp/runtime-dir/pulse \
		-e PULSE_SERVER=unix:/tmp/runtime-dir/pulse/native \
		--device /dev/input \
		--device /dev/bus/usb \
		--device /dev/video0 --device /dev/video2 --device /dev/video4 \
		--volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
		\
		-v "$$PWD":"/home/" \
		-w /root \
		--name edu3 \
		ros-ubuntu22


r:
	sudo docker run -it \
		--gpus all \
		\
		-e WAYLAND_DISPLAY=$$WAYLAND_DISPLAY \
		-e XDG_RUNTIME_DIR=/tmp/runtime-dir \
		-v $$XDG_RUNTIME_DIR/$$WAYLAND_DISPLAY:/tmp/runtime-dir/$$WAYLAND_DISPLAY:ro \
		
		-v $$XDG_RUNTIME_DIR/pulse/native:/tmp/runtime-dir/pulse/native:ro \
		--device /dev/input \
		--device /dev/bus/usb \
		--device /dev/video0 --device /dev/video2 --device /dev/video4 \
		--volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
		--device /dev/dri:/dev/dri \
		\
		-v /dev:/dev \
		\
		-v "$$PWD":"/home/" \
		-w /root \
		--name edu2 \
		--rm \
		ros-ubuntu22

		
# Execute new terminal for existing running container 
# usage: make exec e=<CONTAINER NAME>
ID = $(shell id -u)
aa: 
	echo $(ID)
exec: 
	sudo docker exec -it $(name) bash
# 	sudo docker exec -e PULSE_SERVER=unix:/run/user/1005/pulse/native -it $(name) bash


# Remove container
# usage: make rm e=<CONTAINER NAME>
rm: 
	sudo docker rm $(name)

rmi: 
	sudo docker image rm $(name)

# Build from dockerfile
# usage: make build
build_img:
	@# docker build -t ros -f ros_dockerfile
	@# sudo docker build -t ros-ubuntu24 .
	sudo docker build -t ros-ubuntu22 .

# View active docker processes
# usage: make dps
dps:
	sudo docker ps -a 

# View existing images
# usage: make dps
dils:
	sudo docker image ls -a 

# Inspect container IP address 
# usage: make inspect_server env=<CONTAINER NAME>
inspect:
	sudo docker inspect -f '{{range.NetworkSettings.Networks}}{{.IPAddress}}{{end}}' $(name)

ros:
	bash setup_ros.sh



lfp: 
	lerobot-find-port
	
reset:
	python reset_env.py --port /dev/ttyACM${fp}

audio-set-host:
	xhost +local:docker
	pactl load-module module-native-protocol-tcp auth-ip-acl=127.0.0.1

audio-test:
	arecord -f cd -d 5 test.wav && aplay test.wav && rm test.wav

# 	arecord -D hw:1,0 -f cd -d 5 test.wav && aplay test.wav && rm test.wav
# 	ffplay -f pulse -i default -showmode 2
# 	

audio-reset:
	systemctl --user restart pipewire
	pulseaudio -k && pulseaudio --start
	fuser -v /dev/snd/* 2>&1 | awk 'NR>1 {print $3}' | grep [0-9] | xargs kill -9 | 
	# print new PID 
	fuser -v /dev/snd/* 

	


cal-f:
	lerobot-calibrate \
			--robot.type=so101_follower \
			--robot.port=/dev/ttyACM1 \
			--robot.id=my_awesome_follower_arm


tel: 
	lerobot-teleoperate \
		--robot.type=so101_follower \
		--robot.port=/dev/ttyACM$(fp) \
		--robot.id=my_awesome_follower_arm \
		--teleop.type=so101_leader \
		--teleop.port=/dev/ttyACM$(lp) \
		--teleop.id=my_awesome_leader_arm