#!/usr/bin/env bash
# 构建整个工作区：机械臂栈 + Flexiv 真机驱动
set -eo pipefail

ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
cd "$ROOT"

if [[ -f "${HOME}/anaconda3/etc/profile.d/conda.sh" ]]; then
  # shellcheck disable=SC1091
  source "${HOME}/anaconda3/etc/profile.d/conda.sh"
elif [[ -f "${HOME}/miniconda3/etc/profile.d/conda.sh" ]]; then
  # shellcheck disable=SC1091
  source "${HOME}/miniconda3/etc/profile.d/conda.sh"
  set +u
  conda activate ros_flexiv 2>/dev/null || true
  set -u 2>/dev/null || true
fi

if [[ -z "${ROS_DISTRO:-}" ]]; then
  # shellcheck disable=SC1091
  source /opt/ros/humble/setup.bash 2>/dev/null || source /opt/ros/jazzy/setup.bash 2>/dev/null || true
fi

echo "=== [1/2] arm stack ==="
bash "${ROOT}/scripts/build.sh"

echo "=== [2/2] flexiv real stack ==="
bash "${ROOT}/scripts/build_real.sh"

echo ""
echo "Done. Use:"
echo "  source ${ROOT}/scripts/env.sh"
echo "  bash ${ROOT}/scripts/run_real.sh"