i4h

#!/usr/bin/env bash

# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

# ==============================================================================
# i4h CLI Wrapper Script - Isaac for Healthcare Workflows
# ==============================================================================
#
# DESCRIPTION:
#   This script provides a wrapper for the HoloHub CLI tools by automatically
#   downloading and managing the required utilities from the nvidia-holoscan/holohub
#   repository.
#
# USAGE:
#   ./i4h [COMMAND] [OPTIONS]
#
# FIRST RUN REQUIREMENTS:
#   - git (for downloading HoloHub tools)
#   - Internet connection (for initial download and updates)
#   - Write permissions in CLI_DIR (default: <script_directory>/tools)
#
# RUNTIME REQUIREMENTS:
#   - python3 (>=3.10 for running the CLI)
#
# CONFIGURATION:
#   CLI_DIR - Directory where HoloHub CLI tools will be installed
#             Default: <script_directory>/tools
#             Can be overridden by setting environment variable:
#             export CLI_DIR="/custom/path"
#
#   CLI_PINNED_COMMIT - Git commit hash to pin the HoloHub CLI to.
#                       If not set, uses the 'main' branch.
#                       Example:
#                         CLI_PINNED_COMMIT=abc1234 ./i4h list
#
#   CLI_FORCE_UPDATE - Set to "1" to force re-download even if CLI exists
#                      Example:
#                        CLI_FORCE_UPDATE=1 ./i4h --help
#
#   RTI_LICENSE_FILE - Path to RTI DDS license file (required for DDS-based workflows)
#                      When set and running in Docker mode, the file is mounted into the container.
#                      If not set, the script will automatically download an evaluation license
#                      from RTI and store it locally.
#                      Example:
#                        export RTI_LICENSE_FILE=/path/to/rti_license.dat
#
#   RTI_LICENSE_URL - URL to download the RTI license from (not set by default)
#                     Only used when RTI_LICENSE_FILE is not set.
#                     To obtain a license URL, visit: https://content.rti.com/l/983311/2025-07-08/q5x1n8
#                     Example:
#                       RTI_LICENSE_URL="https://your-license-url" ./i4h run so_arm_starter
#
# EXAMPLES:
#   ./i4h list                                    # List available workflows
#   ./i4h modes so_arm_starter                    # List modes of so_arm_starter
#   ./i4h run so_arm_starter help --local         # Show help for so_arm_starter
#   ./i4h run so_arm_starter sim_keyboard --local # Run keyboard teleoperation mode
#   ./i4h env-info                                # List environment variables
#
#   # Force update CLI to latest version
#   CLI_FORCE_UPDATE=1 ./i4h --help
#
#   # Pin CLI to specific commit for reproducibility
#   CLI_PINNED_COMMIT="abc123def456" ./i4h list
#
# ==============================================================================

set -e
set -o pipefail

SCRIPT_PATH="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
TMP_HOLOHUB_DIR=""  # Set dynamically in download_cli to avoid race conditions
CLI_DIR="${CLI_DIR:-${SCRIPT_PATH}/tools}"
REPO_URL="${CLI_REPO_URL:-https://github.com/nvidia-holoscan/holohub.git}"
CLI_PINNED_COMMIT="${CLI_PINNED_COMMIT:-}"  # Empty means use 'main' branch

# Function to cleanup temporary directories
cleanup_tmp() {
    if [[ -n "${TMP_HOLOHUB_DIR}" && -d "${TMP_HOLOHUB_DIR}" ]]; then
        rm -rf "${TMP_HOLOHUB_DIR}"
    fi
}

# Function to cleanup temporary directories on error
cleanup_on_error() {
    local exit_code=$?
    cd "${SCRIPT_PATH}" 2>/dev/null || true
    cleanup_tmp
    exit "${exit_code}"
}
trap cleanup_on_error ERR

download_cli() {
    echo "Downloading HoloHub CLI tools to ${CLI_DIR}..."
    echo "  Repository: ${REPO_URL}"
    if [[ -n "${CLI_PINNED_COMMIT}" ]]; then
        echo "  Pinned commit: ${CLI_PINNED_COMMIT}"
    else
        echo "  Branch: main"
    fi

    command -v git >/dev/null || { echo "Error: git is required but not installed" >&2; exit 1; }

    # Create a unique temp directory to avoid race conditions with other processes
    TMP_HOLOHUB_DIR="$(mktemp -d "${SCRIPT_PATH}/.tmp-holohub-XXXXXX")"

    # Remove existing utilities directory for clean install
    rm -rf "${CLI_DIR}/utilities"
    rm -rf "${CLI_DIR}/cmake"

    # Clone with blob filtering for minimal download size
    if [[ -n "${CLI_PINNED_COMMIT}" ]]; then
        git clone --no-checkout --filter=blob:none "${REPO_URL}" "${TMP_HOLOHUB_DIR}/holohub" || \
            { echo "Error: Failed to clone HoloHub repository" >&2; cleanup_tmp; exit 1; }
    else
        git clone --depth 1 --no-checkout --filter=blob:none "${REPO_URL}" "${TMP_HOLOHUB_DIR}/holohub" || \
            { echo "Error: Failed to clone HoloHub repository" >&2; cleanup_tmp; exit 1; }
    fi

    cd "${TMP_HOLOHUB_DIR}/holohub" && \
        [[ "$(git rev-parse --show-toplevel 2>/dev/null)" == "${TMP_HOLOHUB_DIR}/holohub" ]] || \
        { echo "Error: Failed to access cloned repository" >&2; cleanup_tmp; exit 1; }

    git sparse-checkout init --cone
    git sparse-checkout set utilities/cli utilities/metadata utilities/testing cmake

    # Fetch and checkout the pinned commit or main branch
    if [[ -n "${CLI_PINNED_COMMIT}" ]]; then
        git fetch --progress origin "${CLI_PINNED_COMMIT}"
        git -c advice.detachedHead=false checkout "${CLI_PINNED_COMMIT}"
    else
        git checkout main
    fi

    local COMMIT_HASH
    COMMIT_HASH=$(git rev-parse HEAD 2>/dev/null)

    # Move utilities and cmake to the CLI directory
    mv "${TMP_HOLOHUB_DIR}/holohub/utilities" "${CLI_DIR}"
    mv "${TMP_HOLOHUB_DIR}/holohub/cmake" "${CLI_DIR}"

    cd "${SCRIPT_PATH}"
    cleanup_tmp

    # Store the commit hash for version tracking
    echo "${COMMIT_HASH}" > "${CLI_DIR}/utilities/cli/.cli_commit_hash"
    echo "✓ HoloHub CLI downloaded successfully (commit: ${COMMIT_HASH:0:12})"
}

# Check if CLI needs to be downloaded or force-updated
if [[ "${CLI_FORCE_UPDATE}" == "1" ]] || [[ ! -d "${CLI_DIR}/utilities/cli" ]]; then
    download_cli || { echo "Error: Failed to download CLI"; exit 1; }
fi

# ==============================================================================
# Configure HoloHub environment variables for i4h
# ==============================================================================

# HOLOHUB_CMD_NAME: Name of the CLI command/script (used for help messages and logging)
export HOLOHUB_CMD_NAME=${BASH_SOURCE[0]}

# HOLOHUB_ROOT: Root directory of the repository (used as base for all relative paths)
export HOLOHUB_ROOT=${SCRIPT_PATH}

# HOLOHUB_REPO_PREFIX: Default prefix for container naming
export HOLOHUB_REPO_PREFIX="i4h_build"

# HOLOHUB_WORKSPACE_NAME: Name of the workspace directory inside the container
export HOLOHUB_WORKSPACE_NAME="i4h"

# HOLOHUB_BUILD_PARENT_DIR: Parent directory where CMake build artifacts are stored
export HOLOHUB_BUILD_PARENT_DIR="${HOLOHUB_ROOT}/build"

# HOLOHUB_DEFAULT_IMAGE_FORMAT: Format for container image tags
export HOLOHUB_DEFAULT_IMAGE_FORMAT="{container_prefix}:main"

# ==============================================================================
# Handle RTI DDS License - Auto-download if not provided
# ==============================================================================

RTI_LICENSE_DIR="${SCRIPT_PATH}/rti"
RTI_LICENSE_DEFAULT_PATH="${RTI_LICENSE_DIR}/rti_license.dat"
RTI_LICENSE_URL="${RTI_LICENSE_URL:-}"

download_rti_license() {
    if [[ -z "${RTI_LICENSE_URL}" ]]; then
        echo "RTI_LICENSE_URL is not set. Cannot download RTI license automatically."
        echo "Please set RTI_LICENSE_FILE or RTI_LICENSE_URL to provide the license."
        return 1
    fi

    echo "Downloading RTI DDS evaluation license..."
    echo "  URL: ${RTI_LICENSE_URL}"

    # Create directory if it doesn't exist
    mkdir -p "${RTI_LICENSE_DIR}"

    # Download using curl or wget
    if command -v curl >/dev/null; then
        curl -fsSL "${RTI_LICENSE_URL}" -o "${RTI_LICENSE_DEFAULT_PATH}" || \
            { echo "Error: Failed to download RTI license" >&2; return 1; }
    elif command -v wget >/dev/null; then
        wget -q "${RTI_LICENSE_URL}" -O "${RTI_LICENSE_DEFAULT_PATH}" || \
            { echo "Error: Failed to download RTI license" >&2; return 1; }
    else
        echo "Error: curl or wget is required to download RTI license" >&2
        return 1
    fi

    echo "✓ RTI license downloaded to ${RTI_LICENSE_DEFAULT_PATH}"
}

# Auto-download RTI license if not set and not already downloaded
if [[ -z "${RTI_LICENSE_FILE}" ]]; then
    if [[ ! -f "${RTI_LICENSE_DEFAULT_PATH}" ]]; then
        download_rti_license || { echo "Warning: Could not download RTI license. Set RTI_LICENSE_FILE manually if needed."; }
    fi
    if [[ -f "${RTI_LICENSE_DEFAULT_PATH}" ]]; then
        export RTI_LICENSE_FILE="${RTI_LICENSE_DEFAULT_PATH}"
        echo " > Using auto-downloaded RTI license: ${RTI_LICENSE_FILE}"
    fi
fi

# ==============================================================================
# Handle RTI DDS License mounting for Docker containers
# ==============================================================================

# Default: pass through args as-is; "--docker-opts", "--build-args" updated by merge when needed
CLI_ARGS=("$@")
DOCKER_OPTS=""

REQUESTED_LOCAL_MODE="false"
[[ " $* " =~ " --local " ]] || [[ ${HOLOHUB_BUILD_LOCAL:-0} -eq 1 ]] && REQUESTED_LOCAL_MODE="true"

# --- Define extra docker options to append (e.g. RTI license mount) ---
EXTRA_DOCKER_RUN_OPTS=""
RTI_LICENSE_FILE_MOUNT_PATH=${RTI_LICENSE_FILE_MOUNT_PATH:-"/opt/rti/rti_license.dat"}
if [[ -n "${RTI_LICENSE_FILE}" ]]; then
    if [[ -f "${RTI_LICENSE_FILE}" ]]; then
        if ([[ "${1:-}" == "run" ]] && [[ "${REQUESTED_LOCAL_MODE}" == "false" ]]) || \
            [[ "${1:-}" == "run-container" ]]; then
            EXTRA_DOCKER_RUN_OPTS="-v ${RTI_LICENSE_FILE}:${RTI_LICENSE_FILE_MOUNT_PATH}:ro"
            EXTRA_DOCKER_RUN_OPTS="${EXTRA_DOCKER_RUN_OPTS} -e RTI_LICENSE_FILE=${RTI_LICENSE_FILE_MOUNT_PATH}"
            EXTRA_DOCKER_RUN_OPTS="${EXTRA_DOCKER_RUN_OPTS} -e OMNI_KIT_ACCEPT_EULA=Y -e ACCEPT_EULA=Y"
            echo " > RTI license file will be mounted at ${RTI_LICENSE_FILE_MOUNT_PATH}"
        fi
    else
        echo " > Warning: RTI_LICENSE_FILE is set but file does not exist: ${RTI_LICENSE_FILE}"
    fi
fi

# For SO-ARM Starter Workflow: Find TTY serial devices
if [[ "${1:-}" == "run" ]] && [[ "${REQUESTED_LOCAL_MODE}" == "false" ]]; then
    TTY_DEVICES=$(find /dev -maxdepth 1 -name "ttyACM*")
    for TTY_DEVICE in ${TTY_DEVICES}; do
        EXTRA_DOCKER_RUN_OPTS="${EXTRA_DOCKER_RUN_OPTS} --device=${TTY_DEVICE}"
    done
fi

# --- Merge extra options with any existing --docker-opts and --build-args in "$@" ---
if [[ -n "${EXTRA_DOCKER_RUN_OPTS}" ]]; then
    EXISTING_OPTS=""
    NEW_ARGS=()
    for arg in "$@"; do
        if [[ "$arg" == --docker-opts=* ]]; then
            EXISTING_OPTS="${EXISTING_OPTS} ${arg#--docker-opts=}"
        else
            NEW_ARGS+=("$arg")
        fi
    done
    EXISTING_OPTS="${EXISTING_OPTS# }"
    if [[ -n "${EXTRA_DOCKER_RUN_OPTS}" ]] || [[ -n "${EXISTING_OPTS}" ]]; then
        if [[ -n "${EXISTING_OPTS}" ]]; then
            MERGED_OPTS="${EXISTING_OPTS} ${EXTRA_DOCKER_RUN_OPTS}"
        else
            MERGED_OPTS="${EXTRA_DOCKER_RUN_OPTS}"
        fi
        DOCKER_OPTS="--docker-opts=${MERGED_OPTS}"
    fi
    CLI_ARGS=("${NEW_ARGS[@]}")
fi

# ==============================================================================
# Run the CLI
# ==============================================================================

# Version check before running main CLI (if version_check.py exists)
if [[ -f "${CLI_DIR}/utilities/cli/version_check.py" ]]; then
    export CLI_PINNED_COMMIT
    VERSION_CHECK_OUTPUT=$(PYTHONPATH=${PYTHONPATH}:${CLI_DIR} python3 "${CLI_DIR}/utilities/cli/version_check.py" 2>/dev/null) || true
fi

# Run the main CLI
CLI_EXIT_CODE=0
PYTHONPATH=${PYTHONPATH}:${CLI_DIR} \
    python3 "${CLI_DIR}/utilities/cli/holohub.py" \
    "${CLI_ARGS[@]}" \
    ${DOCKER_OPTS:+"${DOCKER_OPTS}"} \
    || CLI_EXIT_CODE=$?

# Display version check output after CLI execution (if any)
if [[ -n "${VERSION_CHECK_OUTPUT:-}" ]]; then
    echo "${VERSION_CHECK_OUTPUT}"
fi

exit ${CLI_EXIT_CODE}