oko_public/supervise.sh

#!/usr/bin/env bash
# supervise.sh — one-shot test supervisor for the oko pipeline.
#
# Re-executes itself inside the oko-dev distrobox (binaries link container
# OpenCV libs), builds all runtime services, generates/validates configs,
# starts coordinator → terp → mofin → runCam in order,
# and tears everything down on Ctrl-C.
#
# Usage:
#   ./supervise.sh [options]          # run the full stack in foreground
#   ./supervise.sh stop               # kill a stack left running elsewhere
#
# Options:
#   --no-camera            skip runCam (pipeline-only test, no hardware needed)
#   --no-build             reuse binaries from ./run/bin without rebuilding
#   --passphrase STRING    enable end-to-end clip encryption (default: plaintext)
#   --auth-token STRING    shared pipeline auth token (default: random per run)
#   --user NAME            camera owner username           (default: oko)
#   --camera-id ID         camera identifier                (default: front)
#   --threshold N          mofin pixel-value sensitivity    (default: 30)
#
# Matrix settings for coordinator come from OKO_MATRIX_HS, OKO_MATRIX_USER,
# OKO_MATRIX_TOKEN_FILE (or OKO_MATRIX_TOKEN), OKO_CLIPS_ROOM,
# OKO_DETECTIONS_ROOM, and OKO_VIEW_ROOM.
set -Eeuo pipefail

# ---------- re-enter inside the build container ----------
if [[ ! -f /run/.containerenv && ! -f /.dockerenv && -z "${container:-}" ]]; then
    DISTROBOX_BIN="$(command -v distrobox || echo /usr/bin/distrobox)"
    exec "$DISTROBOX_BIN" enter oko-dev -- "$(readlink -f "$0")" "$@"
fi

SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
cd "$SCRIPT_DIR"

[[ "${SUPERVISE_DEBUG:-0}" == 1 ]] && set -x

NO_CAMERA=0
NO_BUILD=0
PASSPHRASE=""
AUTH_TOKEN=""
USER_NAME="oko"
CAMERA_ID="front"
MOFIN_THRESHOLD=30
PBKDF2_ITERS=600000
VIDEO_WIDTH=0
VIDEO_HEIGHT=0

while [[ $# -gt 0 ]]; do
    case "$1" in
        --no-camera)   NO_CAMERA=1 ;;
        --no-build)    NO_BUILD=1 ;;
        --passphrase)  PASSPHRASE="$2"; shift ;;
        --auth-token)  AUTH_TOKEN="$2"; shift ;;
        --user)        USER_NAME="$2"; shift ;;
        --camera-id)   CAMERA_ID="$2"; shift ;;
        --threshold)   MOFIN_THRESHOLD="$2"; shift ;;
        --pbkdf2-iters) PBKDF2_ITERS="$2"; shift ;;
        --video-width)  VIDEO_WIDTH="$2"; shift ;;
        --video-height) VIDEO_HEIGHT="$2"; shift ;;
        stop)          STOP=1 ;;
        *)             echo "unknown option: $1" >&2; exit 2 ;;
    esac
    shift
done

: "${AUTH_TOKEN:=$(openssl rand -hex 16)}"
: "${OKO_MATRIX_HS:=https://ayrc.online}"
: "${OKO_MATRIX_USER:=@okobot:ayrc.online}"
: "${OKO_MATRIX_TOKEN_FILE:=$SCRIPT_DIR/matrix.token}"
: "${OKO_CLIPS_ROOM:=!0hCGPJph-odzFEOScsnAOBlPHSolX8rwbh3mxQNNUrg}"
: "${OKO_DETECTIONS_ROOM:=!XqatfFvJJT6xq8B0p7b5NL2RYRCBS2Fa3ItFu8xV2gQ}"
: "${OKO_VIEW_ROOM:=!wyLfOhunJTOzeXHFfAc6CRCCII7KlA1Pm2MkkFf40tE}"

RUN_DIR="$SCRIPT_DIR/run"
LOG_DIR="$RUN_DIR/logs"
BIN_DIR="$RUN_DIR/bin"
PID_FILE="$RUN_DIR/pids"

if [[ "${STOP:-0}" == 1 ]]; then
    if [[ -f "$PID_FILE" ]]; then
        while read -r pid name; do
            [[ -z "$pid" ]] && continue
            if [[ "$name" == "supervise" ]]; then
                # killing the supervisor triggers its EXIT trap, which cascade-
                # kills every service group it manages.
                kill "$pid" 2>/dev/null && echo "stopped supervisor ($pid)"
            else
                kill -- -"$pid" 2>/dev/null && echo "stopped $name ($pid)" || echo "already dead: $name ($pid)"
            fi
        done < "$PID_FILE"
        sleep 1
        while read -r pid name; do
            [[ -z "$pid" || "$name" == "supervise" ]] && continue
            if kill -0 "$pid" 2>/dev/null; then
                kill -9 -- -"$pid" 2>/dev/null
                echo "forced: $name ($pid)"
            fi
        done < "$PID_FILE"
        rm -f "$PID_FILE"
    else
        echo "no pidfile at $PID_FILE" >&2; exit 1
    fi
    exit 0
fi

# ---------- helpers ----------
log()  { printf '\033[1;34m[supervise]\033[0m %s\n' "$*"; }
die()  { printf '\033[1;31m[supervise] ERROR:\033[0m %s\n' "$*" >&2; exit 1; }

port_open() { (exec 3<>"/dev/tcp/127.0.0.1/$1") 2>/dev/null || return 1; exec 3>&- 3<&-; return 0; }

wait_port() {
    local port="$1" name="$2" i
    for i in $(seq 1 50); do
        port_open "$port" && { log "$name is listening on :$port"; return 0; }
        sleep 0.2
    done
    die "$name did not open port $port — check $LOG_DIR/$name.log"
}

declare -a CHILD_PIDS=()

cleanup() {
    log "shutting down..."
    local pid
    for pid in "${CHILD_PIDS[@]:-}"; do
        [[ -n "$pid" ]] && kill -- -"$pid" 2>/dev/null
    done
    wait 2>/dev/null
    rm -f "$PID_FILE"
    log "all services stopped."
}
trap cleanup EXIT
trap 'exit 130' INT
trap 'exit 143' TERM

start_service() {
    local name="$1" port="$2"; shift 2
    log "starting $name ..."
    # setsid puts the service (and any bash -c wrapper) in its own process
    # group so stop/cleanup can kill the whole tree atomically with
    # `kill -- -PID`; a bare SIGTERM to a wrapper subshell would orphan it.
    setsid "$@" >>"$LOG_DIR/$name.log" 2>&1 &
    local pid=$!
    CHILD_PIDS+=("$pid")
    echo "$pid $name" >>"$PID_FILE"
    sleep 0.5
    if ! kill -0 "$pid" 2>/dev/null; then
        tail -n 20 "$LOG_DIR/$name.log" >&2
        die "$name exited immediately — see $LOG_DIR/$name.log"
    fi
    if [[ -n "$port" ]]; then
        wait_port "$port" "$name"
    fi
}

# ---------- preflight ----------
command -v go >/dev/null || die "required tool 'go' not found in container"
mkdir -p "$BIN_DIR" "$LOG_DIR"

if [[ -f "$PID_FILE" ]]; then
    while read -r pid _; do
        kill -0 "$pid" 2>/dev/null && die "stack already running (pid $pid). Use './supervise.sh stop' first."
    done < "$PID_FILE"
    rm -f "$PID_FILE"
fi
: > "$PID_FILE"

for p in 8081 8082 8083; do
    if port_open "$p"; then
        die "port $p already in use by something outside this supervisor."
    fi
done

SERVICES=(coordinator terp mofin runCam)

# ---------- build ----------
if [[ "$NO_BUILD" == 0 ]]; then
    log "building ${SERVICES[*]} ..."
    for svc in "${SERVICES[@]}"; do
        ( cd "$svc" && go build -o "$BIN_DIR/$svc" . ) || die "build failed: $svc"
    done
    log "build complete."
else
    for svc in "${SERVICES[@]}"; do
        [[ -x "$BIN_DIR/$svc" ]] || die "--no-build set but $BIN_DIR/$svc missing; run a build first."
    done
fi

# ---------- ensure configurations ----------
log "ensuring configurations ..."

TERP_DIR="$RUN_DIR/terp"
mkdir -p "$TERP_DIR/classifiers"
for cascade_src in /usr/share/opencv4/haarcascades /usr/share/OpenCV/haarcascades; do
    if [[ -d "$cascade_src" ]]; then
        cp -u "$cascade_src"/haarcascade_fullbody.xml "$TERP_DIR/classifiers/" 2>/dev/null
        cp -u "$cascade_src"/haarcascade_frontalface_default.xml "$TERP_DIR/classifiers/" 2>/dev/null
        break
    fi
done
ls "$TERP_DIR/classifiers/"*.xml >/dev/null 2>&1 || die "no Haar cascades found for terp (looked in /usr/share/opencv4/haarcascades)"

SOURCE_DATA="${USER_NAME}--${CAMERA_ID}"

# ---------- launch (dependency order) ----------
echo "$$ supervise" >>"$PID_FILE"

start_service coordinator 8082 "$BIN_DIR/coordinator" \
    -listen ":8082" \
    -auth-token "$AUTH_TOKEN" \
    -passphrase "$PASSPHRASE" \
    -pbkdf2-iters "$PBKDF2_ITERS" \
    -matrix-homeserver "${OKO_MATRIX_HS:-}" \
    -matrix-user "${OKO_MATRIX_USER:-}" \
    -matrix-token-file "${OKO_MATRIX_TOKEN_FILE:-}" \
    -clips-room "${OKO_CLIPS_ROOM:-}" \
    -detections-room "${OKO_DETECTIONS_ROOM:-}" \
    -view-room "${OKO_VIEW_ROOM:-}"

start_service terp 8081 bash -c "cd '$TERP_DIR' && exec '$BIN_DIR/terp' \
    -listen ':8081' \
    -sendoff 'localhost:8082' \
    -auth-token '$AUTH_TOKEN' \
    -classifiers 'classifiers/*.xml' \
    -motion-percent 0 \
    -passphrase '$PASSPHRASE' \
    -pbkdf2-iters '$PBKDF2_ITERS'"

start_service mofin 8083 "$BIN_DIR/mofin" \
    -listen ":8083" \
    -terp "localhost:8081" \
    -auth-token "$AUTH_TOKEN" \
    -threshold "$MOFIN_THRESHOLD" \
    -passphrase "$PASSPHRASE" \
    -pbkdf2-iters "$PBKDF2_ITERS"

RUN_CAM=1
if [[ "$NO_CAMERA" == 0 ]]; then
    ls /dev/video* >/dev/null 2>&1 || { log "WARNING: no /dev/video* devices visible; skipping runCam (pipeline-only mode)"; RUN_CAM=0; }
else
    RUN_CAM=0
fi
if [[ "$RUN_CAM" == 1 ]]; then
    start_service runCam "" "$BIN_DIR/runCam" \
        -mofin "localhost:8083" \
        -auth-token "$AUTH_TOKEN" \
        -min-cam 0 -max-cam 10 \
        -video-width "$VIDEO_WIDTH" -video-height "$VIDEO_HEIGHT" \
        -user "$USER_NAME" \
        -camera-id "$CAMERA_ID" \
        -passphrase "$PASSPHRASE" \
        -pbkdf2-iters "$PBKDF2_ITERS"
fi

# ---------- status ----------
echo
log "=== oko test stack is up ==="
printf '  %-18s %-12s %s\n' SERVICE PORT LOG
printf '  %-18s %-12s %s\n' coordinator 8082 "$LOG_DIR/coordinator.log"
printf '  %-18s %-12s %s\n' terp 8081 "$LOG_DIR/terp.log"
printf '  %-18s %-12s %s\n' mofin 8083 "$LOG_DIR/mofin.log"
if [[ "$RUN_CAM" == 1 ]]; then
    printf '  %-18s %-12s %s\n' runCam — "$LOG_DIR/runCam.log"
fi
echo
log "motion clips land in the configured Matrix rooms (OKO_CLIPS_ROOM / OKO_DETECTIONS_ROOM)"
log "Ctrl-C to stop everything."

wait