#!/bin/bash

sudo systemctl disable gpsd
sudo systemctl stop gpsd.socket
sudo systemctl disable gpsd.socket
sudo chmod 777 /dev/imu
sudo chmod 777 /dev/ttyUSB0

echo "================================================"
echo "RobotNet10 Cleanup & Run Script"
echo "================================================"

# Kill old processes
echo ""
echo "1. Checking for running RobotNet processes..."
OLD_PIDS=$(ps aux | grep -i "RobotNet10.RobotApp" | grep -v grep | awk '{print $2}')

if [ -z "$OLD_PIDS" ]; then
    echo "   ✓ No old processes found"
else
    echo "   Found processes: $OLD_PIDS"
    echo "   Killing old processes..."
    for PID in $OLD_PIDS; do
        kill $PID 2>/dev/null
        echo "   - Killed PID $PID"
    done
    
    # Wait a bit
    sleep 1
    
    # Force kill if still running
    REMAINING=$(ps aux | grep -i "RobotNet10.RobotApp" | grep -v grep | awk '{print $2}')
    if [ ! -z "$REMAINING" ]; then
        echo "   Force killing remaining processes..."
        for PID in $REMAINING; do
            kill -9 $PID 2>/dev/null
            echo "   - Force killed PID $PID"
        done
    fi
    
    echo "   ✓ All old processes killed"
fi

# Check serial port
echo ""
echo "2. Checking serial port /dev/ttyUSB0..."
PORT_USER=$(lsof /dev/ttyUSB0 2>/dev/null | tail -n +2)
if [ -z "$PORT_USER" ]; then
    echo "   ✓ Port is free"
else
    echo "   ✗ Port still in use:"
    lsof /dev/ttyUSB0
    echo "   Waiting for port to be released..."
    sleep 2
fi

# Verify clean state
echo ""
echo "3. Final verification..."
FINAL_CHECK=$(ps aux | grep -i "RobotNet10.RobotApp" | grep -v grep)
if [ -z "$FINAL_CHECK" ]; then
    echo "   ✓ No processes running"
else
    echo "   ✗ Warning: Some processes still running!"
    echo "$FINAL_CHECK"
fi

# Run application
echo ""
echo "================================================"
echo "Starting RobotNet10.RobotApp..."
echo "================================================"
echo ""

# cd /usr/RobotNet10
cd ~/.Hiep/RobotNet10/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp
dotnet run >  ./logs/log1.txt