install.sh

#!/bin/bash

if [ "$EUID" -ne 0 ]; then
    echo "Error: this script must be run with sudo."
    echo "Please run: sudo ./install.sh"
    exit 1
fi

USER_HOME="$(getent passwd "${SUDO_USER:-$USER}" | cut -d: -f6)"
export PATH="$USER_HOME/.local/bin:$PATH"

# Install pip3 if not already installed
echo "=========================================="
echo "Checking for pip3..."
echo "=========================================="

if ! command -v pip3 &> /dev/null; then
    echo "pip3 is not installed. Installing python3-pip..."
    apt update
    apt install -y python3-pip

    if [ $? -eq 0 ]; then
        echo "✓ pip3 installed successfully!"
    else
        echo "✗ Warning: Failed to install pip3"
        echo "Please install it manually with: sudo apt install python3-pip"
    fi
else
    echo "✓ pip3 is already installed."
fi

echo ""

# Install jtop for Jetson Nano monitoring
echo "=========================================="
echo "Installing jtop (Jetson stats tool)..."
echo "=========================================="

if ! command -v jtop &> /dev/null && ! sudo -u "$SUDO_USER" command -v jtop &> /dev/null; then
    echo "jtop is not installed. Installing jetson-stats..."
    echo "Running: sudo -H pip3 install -U jetson-stats"

    sudo -H pip3 install -U jetson-stats
    INSTALL_RESULT=$?

    if [ $INSTALL_RESULT -eq 0 ]; then
        echo "✓ jetson-stats installed successfully!"
        echo "Note: You may need to reboot for jtop to work properly."
    else
        echo "✗ Warning: Failed to install jetson-stats (exit code: $INSTALL_RESULT)"
        echo "You can manually install it later with: sudo -H pip3 install -U jetson-stats"
    fi
else
    echo "✓ jtop is already installed."
fi

echo ""

# Check if dialog is installed, if not install it
if ! command -v dialog &> /dev/null; then
    echo "Dialog is not installed. Installing dialog..."

    # Detect the operating system and install dialog
    if [ -f /etc/os-release ]; then
        . /etc/os-release
        OS=$ID
    elif [ "$(uname)" = "Darwin" ]; then
        OS="macos"
    else
        echo "Unable to detect operating system."
        exit 1
    fi

    case $OS in
        ubuntu|debian)
            sudo apt-get update
            sudo apt-get install -y dialog
            ;;
        fedora|rhel|centos)
            sudo dnf install -y dialog || sudo yum install -y dialog
            ;;
        arch|manjaro)
            sudo pacman -S --noconfirm dialog
            ;;
        macos)
            if command -v brew &> /dev/null; then
                brew install dialog
            else
                echo "Homebrew is not installed. Please install Homebrew first: https://brew.sh"
                exit 1
            fi
            ;;
        *)
            echo "Unsupported operating system: $OS"
            echo "Please install 'dialog' manually and run this script again."
            exit 1
            ;;
    esac

    # Verify installation
    if ! command -v dialog &> /dev/null; then
        echo "Failed to install dialog. Please install it manually."
        exit 1
    fi

    echo "Dialog installed successfully!"
fi

# Set purple color scheme for dialog with different tones
export DIALOGRC="/tmp/dialogrc_custom"
cat > "$DIALOGRC" << 'EOF'
# Dialog color configuration
use_colors = ON
screen_color = (WHITE,BLACK,OFF)
shadow_color = (BLACK,BLACK,ON)
dialog_color = (WHITE,MAGENTA,OFF)
title_color = (WHITE,MAGENTA,ON)
border_color = (WHITE,MAGENTA,OFF)
border2_color = (WHITE,MAGENTA,OFF)
button_active_color = (BLACK,WHITE,ON)
button_inactive_color = (WHITE,MAGENTA,OFF)
button_key_active_color = (BLACK,WHITE,ON)
button_key_inactive_color = (WHITE,MAGENTA,OFF)
button_label_active_color = (BLACK,WHITE,ON)
button_label_inactive_color = (WHITE,MAGENTA,OFF)
inputbox_color = (WHITE,MAGENTA,OFF)
inputbox_border_color = (WHITE,MAGENTA,OFF)
inputbox_border2_color = (WHITE,MAGENTA,OFF)
searchbox_color = (WHITE,MAGENTA,OFF)
searchbox_title_color = (WHITE,MAGENTA,ON)
searchbox_border_color = (WHITE,MAGENTA,OFF)
searchbox_border2_color = (WHITE,MAGENTA,OFF)
position_indicator_color = (WHITE,MAGENTA,ON)
menubox_color = (WHITE,MAGENTA,OFF)
menubox_border_color = (WHITE,MAGENTA,OFF)
menubox_border2_color = (WHITE,MAGENTA,OFF)
item_color = (WHITE,MAGENTA,OFF)
item_selected_color = (BLACK,WHITE,ON)
tag_color = (WHITE,MAGENTA,OFF)
tag_selected_color = (BLACK,WHITE,ON)
tag_key_color = (WHITE,MAGENTA,OFF)
tag_key_selected_color = (BLACK,WHITE,ON)
check_color = (WHITE,MAGENTA,OFF)
check_selected_color = (BLACK,WHITE,ON)
uarrow_color = (WHITE,MAGENTA,ON)
darrow_color = (WHITE,MAGENTA,ON)
EOF

# Initial welcome page
dialog --title "BotBrain Workspace Installer" \
       --msgbox "\nWelcome to the BotBrain Workspace Installation Wizard\n\nThis installer will guide you through the setup process for your BotBrain workspace environment.\n\nPress OK to continue or ESC to exit." 12 70

# Check if user cancelled
if [ $? -ne 0 ]; then
    clear
    echo "Installation cancelled by user."
    exit 1
fi

# Robot model selection page
ROBOT_MODEL=$(dialog --title "Robot Model Selection" \
                     --menu "\nSelect your robot model:" 15 70 5 \
                     "go2" "Unitree Go2" \
                     "g1" "Unitree G1" \
                     "g1-internal" "Unitree G1 Internal Jetson" \
                     "tita" "Tita" \
                     "other" "Custom Robot" \
                     3>&1 1>&2 2>&3)

# Check if user cancelled
if [ $? -ne 0 ]; then
    clear
    echo "Installation cancelled by user."
    exit 1
fi

echo "Selected robot model: $ROBOT_MODEL"

# If user selected "other", prompt for custom model name
if [ "$ROBOT_MODEL" = "other" ]; then
    CUSTOM_MODEL=$(dialog --title "Custom Robot Model" \
                          --inputbox "\nEnter your robot model name:" 10 70 \
                          3>&1 1>&2 2>&3)

    if [ $? -ne 0 ]; then
        clear
        echo "Installation cancelled by user."
        exit 1
    fi

    ROBOT_MODEL=$CUSTOM_MODEL
    echo "Custom robot model: $ROBOT_MODEL"
fi

# If Tita robot is selected, prompt for namespace
if [ "$ROBOT_MODEL" = "tita" ]; then
    TITA_NAMESPACE=$(dialog --title "Tita Namespace Configuration" \
                            --inputbox "\nEnter the Tita namespace for your robot:\n\n(This is used for robot-specific communication)" 12 70 \
                            3>&1 1>&2 2>&3)

    if [ $? -ne 0 ]; then
        clear
        echo "Installation cancelled by user."
        exit 1
    fi

    echo "Tita namespace: $TITA_NAMESPACE"
fi

# If G1 Internal is selected, prompt for web port
WEB_PORT="80"
if [ "$ROBOT_MODEL" = "g1-internal" ]; then
    # Set WEB_PORT to 3000
    WEB_PORT="3000"

    # Set ROBOT_MODEL to g1, so can find g1_pkg
    ROBOT_MODEL="g1"
fi

# Description file type selection page
DESCRIPTION_TYPE=$(dialog --title "Description File Type" \
                          --menu "\nSelect the robot description file format:" 15 70 2 \
                          "xacro" "Xacro (XML Macros for URDF)" \
                          "urdf" "URDF (Unified Robot Description Format)" \
                          3>&1 1>&2 2>&3)

# Check if user cancelled
if [ $? -ne 0 ]; then
    clear
    echo "Installation cancelled by user."
    exit 1
fi

echo "Selected description file type: $DESCRIPTION_TYPE"

# Robot name configuration page
dialog --title "Robot Name Configuration" \
       --yesno "\nWould you like to set a custom name for your robot?\n\nThis name will be used as the namespace for:\n- ROS2 Topics\n- Services\n- Actions\n- Nodes\n- And other robot-specific identifiers\n\nIf you skip this step, no custom namespace will be set." 15 70

if [ $? -eq 0 ]; then
    # User selected Yes
    ROBOT_NAME=$(dialog --title "Robot Name" \
                        --inputbox "\nEnter a name for your robot:\n\n(Use lowercase letters, numbers, and underscores only)" 12 70 \
                        3>&1 1>&2 2>&3)

    if [ $? -ne 0 ]; then
        clear
        echo "Installation cancelled by user."
        exit 1
    fi

    echo "Robot name: $ROBOT_NAME"
else
    # User selected No
    ROBOT_NAME=""
    echo "No robot name set."
fi

# Network interface selection page
# Get list of available network interfaces (works on both Linux and macOS)
if [ "$(uname)" = "Darwin" ]; then
    # macOS: ifconfig -l lists all interfaces in one line
    INTERFACES=$(ifconfig -l | tr ' ' '\n' | grep -v "lo0" | awk '{printf "%s \"%s\" ", $1, $1}')
else
    # Linux: parse ifconfig output
    INTERFACES=$(ifconfig -a | grep -E "^[a-z]" | awk '{print $1}' | sed 's/://g' | grep -v "lo" | awk '{printf "%s \"%s\" ", $1, $1}')
fi

if [ -z "$INTERFACES" ]; then
    # If no interfaces found, allow manual entry
    NETWORK_INTERFACE=$(dialog --title "Network Interface Configuration" \
                               --inputbox "\nNo network interfaces detected.\n\nPlease enter the network interface name manually:" 12 70 \
                               3>&1 1>&2 2>&3)

    if [ $? -ne 0 ]; then
        clear
        echo "Installation cancelled by user."
        exit 1
    fi
else
    # Add "custom" option to the menu
    INTERFACES="$INTERFACES custom \"Enter custom interface name\""

    # Create the menu dynamically with available interfaces
    eval "NETWORK_INTERFACE=\$(dialog --title \"Network Interface Selection\" \
                                      --menu \"\nSelect the network interface for ROS2 communication:\n\nThis interface will be used for DDS communication.\" 18 70 8 \
                                      $INTERFACES \
                                      3>&1 1>&2 2>&3)"

    # Check if user cancelled
    if [ $? -ne 0 ]; then
        clear
        echo "Installation cancelled by user."
        exit 1
    fi

    # If user selected custom, prompt for manual entry
    if [ "$NETWORK_INTERFACE" = "custom" ]; then
        NETWORK_INTERFACE=$(dialog --title "Custom Network Interface" \
                                   --inputbox "\nEnter the network interface name:" 10 70 \
                                   3>&1 1>&2 2>&3)

        if [ $? -ne 0 ]; then
            clear
            echo "Installation cancelled by user."
            exit 1
        fi
    fi
fi

echo "Selected network interface: $NETWORK_INTERFACE"

# Wi-Fi interface selection page
# Get list of available network interfaces (works on both Linux and macOS)
if [ "$(uname)" = "Darwin" ]; then
    # macOS: ifconfig -l lists all interfaces in one line
    WIFI_INTERFACES=$(ifconfig -l | tr ' ' '\n' | grep -v "lo0" | awk '{printf "%s \"%s\" ", $1, $1}')
else
    # Linux: parse ifconfig output
    WIFI_INTERFACES=$(ifconfig -a | grep -E "^[a-z]" | awk '{print $1}' | sed 's/://g' | grep -v "lo" | awk '{printf "%s \"%s\" ", $1, $1}')
fi

if [ -z "$WIFI_INTERFACES" ]; then
    # If no interfaces found, allow manual entry
    WIFI_INTERFACE=$(dialog --title "Wi-Fi Interface Configuration" \
                            --inputbox "\nNo network interfaces detected.\n\nPlease enter the Wi-Fi interface name manually:" 12 70 \
                            3>&1 1>&2 2>&3)

    if [ $? -ne 0 ]; then
        clear
        echo "Installation cancelled by user."
        exit 1
    fi
else
    # Add "custom" option to the menu
    WIFI_INTERFACES="$WIFI_INTERFACES custom \"Enter custom interface name\""

    # Create the menu dynamically with available interfaces
    eval "WIFI_INTERFACE=\$(dialog --title \"Wi-Fi Interface Selection\" \
                                   --menu \"\nSelect the Wi-Fi interface:\n\nThis interface will be used for wireless connectivity.\" 18 70 8 \
                                   $WIFI_INTERFACES \
                                   3>&1 1>&2 2>&3)"

    # Check if user cancelled
    if [ $? -ne 0 ]; then
        clear
        echo "Installation cancelled by user."
        exit 1
    fi

    # If user selected custom, prompt for manual entry
    if [ "$WIFI_INTERFACE" = "custom" ]; then
        WIFI_INTERFACE=$(dialog --title "Custom Wi-Fi Interface" \
                                --inputbox "\nEnter the Wi-Fi interface name:" 10 70 \
                                3>&1 1>&2 2>&3)

        if [ $? -ne 0 ]; then
            clear
            echo "Installation cancelled by user."
            exit 1
        fi
    fi
fi

echo "Selected Wi-Fi interface: $WIFI_INTERFACE"

# Wi-Fi credentials configuration page
# Create a temporary file for the form
TEMP_FORM=$(mktemp)
dialog --title "Wi-Fi Credentials Configuration" \
       --form "\nEnter the default Wi-Fi credentials:\n\nThese will be used for automatic Wi-Fi connection." 14 70 2 \
       "SSID:" 1 1 "" 1 20 40 0 \
       "Password:" 2 1 "" 2 20 40 0 \
       2> "$TEMP_FORM"

# Check if user cancelled
if [ $? -ne 0 ]; then
    rm -f "$TEMP_FORM"
    clear
    echo "Installation cancelled by user."
    exit 1
fi

# Read the form values
WIFI_SSID=$(sed -n '1p' "$TEMP_FORM")
WIFI_PASSWORD=$(sed -n '2p' "$TEMP_FORM")
rm -f "$TEMP_FORM"

echo "Wi-Fi SSID: $WIFI_SSID"
echo "Wi-Fi Password: [hidden]"

# OpenAI API Key configuration page
dialog --title "OpenAI API Key Configuration" \
       --yesno "\nWould you like to configure an OpenAI API key?\n\nThis is optional and can be used for GPT-powered features in your robot.\n\nYou can skip this step and configure it later in robot_config.yaml if needed." 12 70

if [ $? -eq 0 ]; then
    # User selected Yes
    OPENAI_API_KEY=$(dialog --title "OpenAI API Key" \
                            --inputbox "\nEnter your OpenAI API key:\n\n(You can find this at https://platform.openai.com/api-keys)" 12 70 \
                            3>&1 1>&2 2>&3)

    if [ $? -ne 0 ]; then
        clear
        echo "Installation cancelled by user."
        exit 1
    fi

    echo "OpenAI API key configured"
else
    # User selected No
    OPENAI_API_KEY=""
    echo "OpenAI API key skipped"
fi

# Supabase configuration page
dialog --title "Supabase Configuration" \
       --yesno "\nWould you like to configure Supabase credentials for the web server?\n\n*** THIS IS REQUIRED FOR THE WEB INTERFACE TO WORK PROPERLY ***\n\nYou can skip this step and configure it later in the .env file if needed." 12 70

if [ $? -eq 0 ]; then
    # Create temporary file for the form
    TEMP_FORM=$(mktemp)
    dialog --title "Supabase Credentials" \
           --form "\nEnter your Supabase configuration:\n" 14 100 2 \
           "Supabase URL:" 1 1 "" 1 20 70 0 \
           "Anon Key:" 2 1 "" 2 20 70 300 \
           2> "$TEMP_FORM"

    if [ $? -ne 0 ]; then
        rm -f "$TEMP_FORM"
        clear
        echo "Installation cancelled by user."
        exit 1
    fi

    # Read the form values
    SUPABASE_URL=$(sed -n '1p' "$TEMP_FORM")
    SUPABASE_ANON_KEY=$(sed -n '2p' "$TEMP_FORM")
    rm -f "$TEMP_FORM"

    echo "Supabase URL: $SUPABASE_URL"
    echo "Supabase Anon Key: [hidden]"

    # Create .env file in root directory (for docker-compose.yaml)
    ENV_FILE=".env"
    cat > "$ENV_FILE" << EOF
NEXT_PUBLIC_SUPABASE_URL=$SUPABASE_URL
NEXT_PUBLIC_SUPABASE_ANON_KEY=$SUPABASE_ANON_KEY
PORT=$WEB_PORT
EOF

    echo "Created Supabase .env file at $ENV_FILE"
else
    SUPABASE_URL=""
    SUPABASE_ANON_KEY=""
    echo "Supabase configuration skipped (you can configure it later in the .env file)"

    # Create .env file with placeholder credentials to allow build to complete
    ENV_FILE=".env"
    cat > "$ENV_FILE" << EOF
NEXT_PUBLIC_SUPABASE_URL=https://placeholder.supabase.co
NEXT_PUBLIC_SUPABASE_ANON_KEY=placeholder-anon-key-replace-with-real-credentials
PORT=$WEB_PORT
EOF

    echo "Created .env file with placeholder credentials at $ENV_FILE"
fi

# Front camera selection page
FRONT_CAMERA=$(dialog --title "Front Camera Selection" \
                      --menu "\nSelect the front camera model:" 16 70 4 \
                      "d435i" "Intel RealSense D435i" \
                      "d455" "Intel RealSense D455" \
                      "d555" "Intel RealSense D555" \
                      "none" "No front camera" \
                      3>&1 1>&2 2>&3)

# Check if user cancelled
if [ $? -ne 0 ]; then
    clear
    echo "Installation cancelled by user."
    exit 1
fi

echo "Selected front camera: $FRONT_CAMERA"

# If front camera is not "none", ask for serial number
FRONT_SERIAL=""
if [ "$FRONT_CAMERA" != "none" ]; then
    FRONT_SERIAL=$(dialog --title "Front Camera Serial Number" \
                          --inputbox "\nEnter the serial number for the front camera:\n\n(You can find this on the camera label or using 'rs-enumerate-devices')" 12 70 \
                          3>&1 1>&2 2>&3)

    if [ $? -ne 0 ]; then
        clear
        echo "Installation cancelled by user."
        exit 1
    fi

    echo "Front camera serial number: $FRONT_SERIAL"
fi

# Rear camera selection page
REAR_CAMERA=$(dialog --title "Rear Camera Selection" \
                     --menu "\nSelect the rear camera model:" 16 70 4 \
                     "d435i" "Intel RealSense D435i" \
                     "d455" "Intel RealSense D455" \
                     "d555" "Intel RealSense D555" \
                     "none" "No rear camera" \
                     3>&1 1>&2 2>&3)

# Check if user cancelled
if [ $? -ne 0 ]; then
    clear
    echo "Installation cancelled by user."
    exit 1
fi

echo "Selected rear camera: $REAR_CAMERA"

# If rear camera is not "none", ask for serial number
REAR_SERIAL=""
if [ "$REAR_CAMERA" != "none" ]; then
    REAR_SERIAL=$(dialog --title "Rear Camera Serial Number" \
                         --inputbox "\Enter the serial number for the rear camera:\n\n(You can find this on the camera label or using 'rs-enumerate-devices')" 12 70 \
                         3>&1 1>&2 2>&3)

    if [ $? -ne 0 ]; then
        clear
        echo "Installation cancelled by user."
        exit 1
    fi

    echo "Rear camera serial number: $REAR_SERIAL"
fi

# Update camera_config.yaml in the selected robot package
CAMERA_CONFIG_FILE="botbrain_ws/src/${ROBOT_MODEL}_pkg/config/camera_config.yaml"

if [ -f "$CAMERA_CONFIG_FILE" ]; then
    # Update front camera type if not "none"
    if [ "$FRONT_CAMERA" != "none" ]; then
        sed -i.bak "s/\(front:.*\)/\1/" "$CAMERA_CONFIG_FILE"
        sed -i.bak "/front:/,/type:/ s/type: \".*\"/type: \"$FRONT_CAMERA\"/" "$CAMERA_CONFIG_FILE"
        sed -i.bak "/front:/,/serial_number:/ s/serial_number: \".*\"/serial_number: \"$FRONT_SERIAL\"/" "$CAMERA_CONFIG_FILE"
        echo "Updated front camera configuration in $CAMERA_CONFIG_FILE"
    fi

    # Update rear camera type if not "none"
    if [ "$REAR_CAMERA" != "none" ]; then
        sed -i.bak "/back:/,/type:/ s/type: \".*\"/type: \"$REAR_CAMERA\"/" "$CAMERA_CONFIG_FILE"
        sed -i.bak "/back:/,/serial_number:/ s/serial_number: \".*\"/serial_number: \"$REAR_SERIAL\"/" "$CAMERA_CONFIG_FILE"
        echo "Updated rear camera configuration in $CAMERA_CONFIG_FILE"
    fi

    # Deletes backup file
    rm -f "${CAMERA_CONFIG_FILE}.bak"
else
    echo "Warning: $CAMERA_CONFIG_FILE not found. Skipping camera configuration."
fi

# Update cyclonedds_config.xml with selected network interface
CYCLONEDDS_CONFIG="botbrain_ws/cyclonedds_config.xml"

if [ -f "$CYCLONEDDS_CONFIG" ]; then
    # Update the ethernet interface in cyclonedds_config.xml (keeping loopback interface unchanged)
    sed -i.bak "/<NetworkInterface name=\"lo\"/! s/<NetworkInterface name=\"[^\"]*\" priority=\"10\"/<NetworkInterface name=\"$NETWORK_INTERFACE\" priority=\"10\"/" "$CYCLONEDDS_CONFIG"

    # Delete backup file
    rm -f "${CYCLONEDDS_CONFIG}.bak"

    echo "Updated cyclonedds_config.xml with network interface: $NETWORK_INTERFACE"
else
    echo "Warning: $CYCLONEDDS_CONFIG not found. Skipping CycloneDDS configuration."
fi

# Update robot_config.yaml with all selections at the end
CONFIG_FILE="botbrain_ws/robot_config.yaml"

if [ -f "$CONFIG_FILE" ]; then
    # Create temporary file with all updates
    cp "$CONFIG_FILE" "${CONFIG_FILE}.tmp"

    # Apply all sed replacements to the temporary file
    sed -i "s/robot_model: \".*\"/robot_model: \"$ROBOT_MODEL\"/" "${CONFIG_FILE}.tmp"

    # If Tita was selected, also update the namespace
    if [ "$ROBOT_MODEL" = "tita" ] && [ -n "$TITA_NAMESPACE" ]; then
        sed -i "s/tita_namespace: \".*\"/tita_namespace: \"$TITA_NAMESPACE\"/" "${CONFIG_FILE}.tmp"
    fi

    sed -i "s/description_file_type: \".*\"/description_file_type: \"$DESCRIPTION_TYPE\"/" "${CONFIG_FILE}.tmp"
    sed -i "s/robot_name: \".*\"/robot_name: \"$ROBOT_NAME\"/" "${CONFIG_FILE}.tmp"
    sed -i "s/network_interface: \".*\"/network_interface: \"$NETWORK_INTERFACE\"/" "${CONFIG_FILE}.tmp"
    sed -i "s/wifi_interface: \".*\"/wifi_interface: \"$WIFI_INTERFACE\"/" "${CONFIG_FILE}.tmp"
    sed -i "s/wifi_ssid: \".*\"/wifi_ssid: \"$WIFI_SSID\"/" "${CONFIG_FILE}.tmp"
    sed -i "s/wifi_password: \".*\"/wifi_password: \"$WIFI_PASSWORD\"/" "${CONFIG_FILE}.tmp"
    sed -i "s|openai_api_key: \".*\"|openai_api_key: \"$OPENAI_API_KEY\"|" "${CONFIG_FILE}.tmp"
    sed -i "s/front_camera: \".*\"/front_camera: \"$FRONT_CAMERA\"/" "${CONFIG_FILE}.tmp"
    sed -i "s/rear_camera: \".*\"/rear_camera: \"$REAR_CAMERA\"/" "${CONFIG_FILE}.tmp"
    sed -i "s/front_serial_number: \".*\"/front_serial_number: \"$FRONT_SERIAL\"/" "${CONFIG_FILE}.tmp"
    sed -i "s/rear_serial_number: \".*\"/rear_serial_number: \"$REAR_SERIAL\"/" "${CONFIG_FILE}.tmp"

    # Replace the original file with the temporary file
    mv "${CONFIG_FILE}.tmp" "$CONFIG_FILE"

    echo "Updated robot_config.yaml with all configuration settings"
else
    clear
    echo "Error: $CONFIG_FILE not found!"
    exit 1
fi

# Pre-installation confirmation
dialog --title "Installation Confirmation" \
       --yesno "\nConfiguration complete!\n\nYour BotBrain Workspace will be configured with:\n\n• Robot Model: $ROBOT_MODEL\n• Description Type: $DESCRIPTION_TYPE\n• Robot Name: ${ROBOT_NAME:-Not set}\n• Network Interface: $NETWORK_INTERFACE\n• Wi-Fi Interface: $WIFI_INTERFACE\n• Wi-Fi SSID: $WIFI_SSID\n• Front Camera: $FRONT_CAMERA\n• Rear Camera: $REAR_CAMERA\n\nThe installation will:\n\n1. Pull Docker images from docker-compose\n2. Set up and enable botbrain.service\n3. Set up and enable web_server.service\n4. Start builder services (builder_base, builder_yolo, web_server_builder)\n\nThis process may take several minutes.\n\nDo you want to continue with the installation?" 25 70

if [ $? -ne 0 ]; then
    clear
    echo "Installation cancelled by user."
    exit 1
fi

# Installation with progress tracking using mixedgauge
clear

# Clear/create log file at the start
> /tmp/install_log.txt

# Function to show progress (static version for completion)
show_progress() {
    local task1=$1
    local task2=$2
    local task3=$3
    local task4=$4

    # Format status indicators
    local status1="   "
    local status2="   "
    local status3="   "
    local status4="   "

    [[ "$task1" == "0" ]] && status1=" ✓ "
    [[ "$task1" == "7" ]] && status1=" ● "
    [[ "$task2" == "0" ]] && status2=" ✓ "
    [[ "$task2" == "7" ]] && status2=" ● "
    [[ "$task3" == "0" ]] && status3=" ✓ "
    [[ "$task3" == "7" ]] && status3=" ● "
    [[ "$task4" == "0" ]] && status4=" ✓ "
    [[ "$task4" == "7" ]] && status4=" ● "

    dialog --title "Installing BotBrain Workspace" --infobox "\n[$status1] Pull Docker images\n\n[$status2] Setup botbrain.service\n\n[$status3] Setup web_server.service\n\n[$status4] Start builder services" 13 70
}

# Animated progress display for running tasks
show_progress_animated() {
    local task1=$1
    local task2=$2
    local task3=$3
    local task4=$4

    local dots=0
    while true; do
        local animation=""
        case $((dots % 4)) in
            0) animation="   " ;;
            1) animation=".  " ;;
            2) animation=".. " ;;
            3) animation="..." ;;
        esac

        # Format status indicators
        local status1="   "
        local status2="   "
        local status3="   "
        local status4="   "

        [[ "$task1" == "0" ]] && status1=" ✓ "
        [[ "$task1" == "7" ]] && status1="$animation"
        [[ "$task2" == "0" ]] && status2=" ✓ "
        [[ "$task2" == "7" ]] && status2="$animation"
        [[ "$task3" == "0" ]] && status3=" ✓ "
        [[ "$task3" == "7" ]] && status3="$animation"
        [[ "$task4" == "0" ]] && status4=" ✓ "
        [[ "$task4" == "7" ]] && status4="$animation"

        dialog --title "Installing BotBrain Workspace" --infobox "\n[$status1] Pull Docker images\n\n[$status2] Setup botbrain.service\n\n[$status3] Setup web_server.service\n\n[$status4] Start builder services" 13 70

        dots=$((dots + 1))
        sleep 0.5
    done
}

# Step 1: Pull Docker images
if [ -f "docker-compose.yml" ] || [ -f "docker-compose.yaml" ]; then
    show_progress_animated "7" "-" "-" "-" &
    DIALOG_PID=$!

    echo "=== Docker Compose Pull Output ===" >> /tmp/install_log.txt
    docker compose pull >> /tmp/install_log.txt 2>&1
    PULL_RESULT=$?

    kill $DIALOG_PID 2>/dev/null
    wait $DIALOG_PID 2>/dev/null

    echo "Docker pull exit code: $PULL_RESULT" >> /tmp/install_log.txt
    echo "" >> /tmp/install_log.txt

    if [ $PULL_RESULT -ne 0 ]; then
        dialog --title "Installation Error" --msgbox "Failed to pull Docker images.\n\nCheck /tmp/install_log.txt for details." 10 70
        clear
        exit 1
    fi
else
    dialog --title "Installation Error" --msgbox "docker-compose.yaml file not found in the current directory." 10 70
    clear
    exit 1
fi

# Step 2: Set up botbrain.service
show_progress_animated "0" "7" "-" "-" &
DIALOG_PID=$!

if [ -f "botbrain.service" ]; then
    # Get the absolute path of the current directory
    WORKSPACE_PATH="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"

    # Create a temporary service file with the correct working directory
    sed "s|BOTBRAIN_WORKSPACE_PATH|$WORKSPACE_PATH|g" botbrain.service > /tmp/botbrain.service.tmp

    # Copy the modified service file to systemd
    cp /tmp/botbrain.service.tmp /etc/systemd/system/botbrain.service >> /tmp/install_log.txt 2>&1
    systemctl daemon-reload >> /tmp/install_log.txt 2>&1
    systemctl enable botbrain.service >> /tmp/install_log.txt 2>&1

    # Clean up temporary file
    rm -f /tmp/botbrain.service.tmp

    if [ $? -ne 0 ]; then
        kill $DIALOG_PID 2>/dev/null
        wait $DIALOG_PID 2>/dev/null
        dialog --title "Installation Error" --msgbox "Failed to set up botbrain.service.\n\nCheck /tmp/install_log.txt for details." 10 70
        clear
        exit 1
    fi
else
    kill $DIALOG_PID 2>/dev/null
    wait $DIALOG_PID 2>/dev/null
    dialog --title "Installation Error" --msgbox "botbrain.service file not found in the current directory." 10 70
    clear
    exit 1
fi

kill $DIALOG_PID 2>/dev/null
wait $DIALOG_PID 2>/dev/null

# Step 3: Set up web_server.service
show_progress_animated "0" "0" "7" "-" &
DIALOG_PID=$!

if [ -f "web_server.service" ]; then
    # Get the absolute path of the current directory
    WORKSPACE_PATH="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"

    # Create a temporary service file with the correct working directory
    sed "s|BOTBRAIN_WORKSPACE_PATH|$WORKSPACE_PATH|g" web_server.service > /tmp/web_server.service.tmp

    # Copy the modified service file to systemd
    cp /tmp/web_server.service.tmp /etc/systemd/system/web_server.service >> /tmp/install_log.txt 2>&1
    systemctl daemon-reload >> /tmp/install_log.txt 2>&1
    systemctl enable web_server.service >> /tmp/install_log.txt 2>&1

    # Clean up temporary file
    rm -f /tmp/web_server.service.tmp

    if [ $? -ne 0 ]; then
        kill $DIALOG_PID 2>/dev/null
        wait $DIALOG_PID 2>/dev/null
        dialog --title "Installation Error" --msgbox "Failed to set up web_server.service.\n\nCheck /tmp/install_log.txt for details." 10 70
        clear
        exit 1
    fi
else
    kill $DIALOG_PID 2>/dev/null
    wait $DIALOG_PID 2>/dev/null
    dialog --title "Installation Error" --msgbox "web_server.service file not found in the current directory." 10 70
    clear
    exit 1
fi

kill $DIALOG_PID 2>/dev/null
wait $DIALOG_PID 2>/dev/null

# Verify .env file exists before building
if [ -f ".env" ]; then
    echo "Found .env file, contents:" >> /tmp/install_log.txt
    cat .env >> /tmp/install_log.txt
else
    echo "WARNING: .env file not found before build!" >> /tmp/install_log.txt
fi

# Step 4: Run builder services
show_progress_animated "0" "0" "0" "7" &
DIALOG_PID=$!

echo "=== Docker Compose Up Builder Services Output ===" >> /tmp/install_log.txt
docker compose up -d builder_base builder_yolo web_server_builder >> /tmp/install_log.txt 2>&1
BUILD_RESULT=$?

echo "Docker compose up exit code: $BUILD_RESULT" >> /tmp/install_log.txt
echo "" >> /tmp/install_log.txt

if [ $BUILD_RESULT -ne 0 ]; then
    kill $DIALOG_PID 2>/dev/null
    wait $DIALOG_PID 2>/dev/null
    dialog --title "Installation Error" --msgbox "Failed to start builder services.\n\nCheck /tmp/install_log.txt for details." 10 70
    clear
    exit 1
fi

# Wait for all builder services to complete
# These containers are designed to build and then exit, so we wait for them to finish
echo "Waiting for builder services to complete..." >> /tmp/install_log.txt
BUILDER_BASE_ID=$(docker compose ps -q builder_base)
BUILDER_YOLO_ID=$(docker compose ps -q builder_yolo)
WEB_SERVER_BUILDER_ID=$(docker compose ps -q web_server_builder)

# Wait for each container to finish
if [ -n "$BUILDER_BASE_ID" ]; then
    echo "Waiting for builder_base to complete..." >> /tmp/install_log.txt
    docker wait "$BUILDER_BASE_ID" >> /tmp/install_log.txt 2>&1
fi

if [ -n "$BUILDER_YOLO_ID" ]; then
    echo "Waiting for builder_yolo to complete..." >> /tmp/install_log.txt
    docker wait "$BUILDER_YOLO_ID" >> /tmp/install_log.txt 2>&1
fi

if [ -n "$WEB_SERVER_BUILDER_ID" ]; then
    echo "Waiting for web_server_builder to complete..." >> /tmp/install_log.txt
    docker wait "$WEB_SERVER_BUILDER_ID" >> /tmp/install_log.txt 2>&1
fi

kill $DIALOG_PID 2>/dev/null
wait $DIALOG_PID 2>/dev/null

# Check if any of the builder services failed (non-zero exit code)
BUILDER_BASE_STATUS=$(docker inspect -f '{{.State.ExitCode}}' "$BUILDER_BASE_ID" 2>/dev/null || echo "1")
BUILDER_YOLO_STATUS=$(docker inspect -f '{{.State.ExitCode}}' "$BUILDER_YOLO_ID" 2>/dev/null || echo "1")
WEB_SERVER_BUILDER_STATUS=$(docker inspect -f '{{.State.ExitCode}}' "$WEB_SERVER_BUILDER_ID" 2>/dev/null || echo "1")

echo "builder_base exit code: $BUILDER_BASE_STATUS" >> /tmp/install_log.txt
echo "builder_yolo exit code: $BUILDER_YOLO_STATUS" >> /tmp/install_log.txt
echo "web_server_builder exit code: $WEB_SERVER_BUILDER_STATUS" >> /tmp/install_log.txt

if [ "$BUILDER_BASE_STATUS" -ne 0 ] || [ "$BUILDER_YOLO_STATUS" -ne 0 ] || [ "$WEB_SERVER_BUILDER_STATUS" -ne 0 ]; then
    dialog --title "Installation Error" --msgbox "One or more builder services failed during build.\n\nCheck /tmp/install_log.txt and docker logs for details." 10 70
    clear
    exit 1
fi

# Show completion
show_progress "0" "0" "0" "0"
sleep 2

# Installation complete
clear
dialog --title "Installation Complete" \
       --msgbox "\nBotBrain Workspace installation completed successfully!\n\nAll components have been configured and installed:\n\n✓ Robot configuration saved\n✓ Docker images pulled\n✓ botbrain.service enabled\n✓ web_server.service enabled\n✓ builder_base service running\n✓ builder_yolo service running\n✓ web_server_builder service running\n\nYou can now start using your BotBrain workspace." 19 70

clear
echo "Installation completed successfully!"
echo ""
echo "Configuration summary:"
echo "  - Robot model: $ROBOT_MODEL"
echo "  - Description type: $DESCRIPTION_TYPE"
echo "  - Robot name: $ROBOT_NAME"
echo "  - Network interface: $NETWORK_INTERFACE"
echo "  - Wi-Fi interface: $WIFI_INTERFACE"
echo "  - Wi-Fi SSID: $WIFI_SSID"
echo "  - Front camera: $FRONT_CAMERA"
echo "  - Rear camera: $REAR_CAMERA"
echo ""
echo "Services status:"
echo "  - botbrain.service: enabled"
echo "  - web_server.service: enabled"
echo ""
echo "Installation complete!"