#!/usr/bin/env bash
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
  if [[ -f /opt/ros/jazzy/setup.bash ]]; then
    # shellcheck disable=SC1091
    source /opt/ros/jazzy/setup.bash
  elif [[ -f /opt/ros/humble/setup.bash ]]; then
    # shellcheck disable=SC1091
    source /opt/ros/humble/setup.bash
  elif [[ -f /opt/ros/iron/setup.bash ]]; then
    # shellcheck disable=SC1091
    source /opt/ros/iron/setup.bash
  else
    echo "未检测到系统 ROS 2；使用 conda ros_flexiv 环境"
  fi
fi

PACKAGES=(flexiv_description arm_msgs arm_description arm_kinematics arm_interfaces arm_control arm_driver_flexiv arm_bringup arm_application)
# conda GCC 15 把 Humble 消息头里缺的 cstdint 当成错误。补上这个头，仍用 conda 编译器，
# 才能和 ros_flexiv 里的 librclcpp 链在一起。
export CXXFLAGS="${CXXFLAGS:-} -include cstdint -Wno-template-body"
colcon build --symlink-install --packages-select "${PACKAGES[@]}" "$@"
# shellcheck source=lib/fix_shebangs.sh
source "${ROOT}/scripts/lib/fix_shebangs.sh"
fix_shebangs "${ROOT}/install" "${CONDA_PREFIX:-/usr}/bin/python3"

echo "构建完成。请执行: source ${ROOT}/install/setup.bash"