#!/usr/bin/env bash
# 构建真机用的 Flexiv 硬件包（前提：RDK 已装到 ~/flexiv_install）
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

PREFIX="${HOME}/flexiv_install"
CMAKE_PREFIX="${PREFIX}"
if [[ -n "${CONDA_PREFIX:-}" ]]; then
  CMAKE_PREFIX="${PREFIX};${CONDA_PREFIX}"
fi

export CXXFLAGS="${CXXFLAGS:-} -include cstdint -Wno-template-body"
colcon build --symlink-install --packages-select \
  flexiv_hardware \
  flexiv_msgs \
  flexiv_gripper \
  flexiv_test_nodes \
  flexiv_robot_states_broadcaster \
  flexiv_bringup \
  --cmake-args "-DCMAKE_PREFIX_PATH=${CMAKE_PREFIX}" "$@"

echo "Real stack build done. source ${ROOT}/scripts/env.sh"