#!/usr/bin/env bash
# 手眼标定辅助脚本。
# 脚本：~/桌面/orisys_arm/handeye/run_handeye.sh
# 配置与结果：~/ros2/handeye/            ← 见 handeye/README.md
#   poses/<臂号>_<模式>.yaml     采点（输入）
#   results/<臂号>_<模式>.yaml   标定结果（输出）
#   calibrate.yaml               板尺寸 / 运动 / 稳定性参数
#   tmp/                         临时产物
# 站点覆盖项：~/ros2/config/site.yaml → handeye:
#
# 用法：
#   bash ~/桌面/orisys_arm/handeye/run_handeye.sh calibrate
#   bash ~/桌面/orisys_arm/handeye/run_handeye.sh waypoints
#   bash ~/桌面/orisys_arm/handeye/run_handeye.sh teach          # RDK 软拖拽（推荐）
#   bash ~/桌面/orisys_arm/handeye/run_handeye.sh teach --ros --auto-solve
#                             # 示教器模式 + 采完自动 merge 并直接标定（一条命令跑完）
#   bash ~/桌面/orisys_arm/handeye/run_handeye.sh teach --points 12   # 目标采 12 个点
#   bash ~/桌面/orisys_arm/handeye/run_handeye.sh teach --append # 接着上次点位继续采
#   bash ~/桌面/orisys_arm/handeye/run_handeye.sh teach --ros    # 示教器 Free Drive
#   bash ~/桌面/orisys_arm/handeye/run_handeye.sh merge [taught.txt]
#   bash ~/桌面/orisys_arm/handeye/run_handeye.sh show           # 看当前配置与点数
#
# 关于 --auto-solve（采完自动标定）的重要限制:
#   只有 --ros（示教器）模式能真正一条命令跑完。因为标定必须在 run_real.sh 的
#   控制器上走点位，而 --rdk 软拖拽要 RDK 独占，两者互斥 —— 这是硬件约束。
#   --rdk --auto-solve 会照常自动 merge，然后明确告诉你接下来那两条命令。
#
# 全局选项（放在子命令前或后都可以）:
#   --arm 89|91|left|right   选臂（默认 89）
#   --mode eye_in_hand|eye_to_hand
#                            选模式。会切换到 <臂号>_<模式>.yaml，
#                            所以 eye_in_hand 与 eye_to_hand 的结果互不覆盖
#   --points N               仅 teach：目标采集点数（0=不限）
#
# 例：
#   bash ~/桌面/orisys_arm/handeye/run_handeye.sh --arm 91 teach --mode eye_to_hand --points 15
#
# calibrate / waypoints 需要:
#   T1: bash ~/桌面/orisys_arm/scripts/run_real.sh --arm 89|91
#   T2: bash ~/桌面/orisys_arm/scripts/run_camera_d405.sh --arm 89|91 --preview

# teach（拖拽）需要: 先停掉 run_real.sh 和相机（RDK + D405 都独占）
# 89 与 91 的结果文件、示教点、workdir 完全分开，禁止混用。

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

# shellcheck disable=SC1091
source "${ROOT}/scripts/lib/parse_arm_args.sh"
parse_arm_args "$@"
set -- "${PARSE_ARM_REST[@]}"
CMD="${1:-}"
shift || true

usage() {
  sed -n '2,40p' "$0"
}

# shellcheck disable=SC1091
source "${ROOT}/scripts/env.sh"
# shellcheck disable=SC1091
source "${ROOT}/scripts/lib/load_site_config.sh"
# 标定节点就在本目录，直接用源码启动，不经过 ros2 run。
export PYTHONPATH="${ROOT}/src/arm_application${PYTHONPATH:+:${PYTHONPATH}}"
handeye_node() {
  python3 "${ROOT}/handeye/src/${1}.py" --ros-args "${@:2}"
}

# 优先用包的源码树（editable 模式）；退而用 install 里的 share
APP_CFG="${ROOT}/src/arm_application/config"
if [[ ! -d "${APP_CFG}" ]]; then
  APP_CFG="$(ros2 pkg prefix arm_application 2>/dev/null)/share/arm_application/config" || true
fi

# 手眼标定相关文件现在集中在仓库根的 handeye/ 下（见 handeye/README.md）。
# 这些值全部由 site.yaml → export_site_env.py 提供，**包括文件名里的臂号与相机名**
# （臂号 = 该臂 SN 末两位，由 arm_short_id() 现算；相机名来自 cameras 注册表）。
#
# 这里刻意**不**自己拼 `<臂号>_<模式>.yaml`：`_arm_id`、`HANDEYE_MODE` 与相机名
# 在下面几行之后才算得出来，在这里拼会拼出 `results/_.yaml` 这种空文件名，
# 而症状是"标定写完了、用的时候读不到"。
HE_DIR="${SITE_HANDEYE_DIR:-${ROOT}/handeye}"
CAL="${SITE_HANDEYE_CALIBRATE:-${HE_DIR}/calibrate.yaml}"
TOUR="${SITE_HANDEYE_TOUR:-${HE_DIR}/waypoints.yaml}"
WORKDIR="${SITE_HANDEYE_WORKDIR:-${HE_DIR}/tmp}"
PREFIX="${SITE_JOINT_PREFIX:?SITE_JOINT_PREFIX 为空 —— site.yaml 里需要该臂的 robot.sn}"

# ---- --mode：切换 eye-in-hand / eye-to-hand ----
# 必须在 WP/RES/板/相机定下来之前处理：模式决定了读哪个结果文件、用哪块板、
# 开哪台相机、采点落到哪个文件。其余参数原样留给子命令（teach 自己有 --rdk 等）。
HANDEYE_MODE="${SITE_HANDEYE_MODE:-eye_in_hand}"
_rest=()
while [[ $# -gt 0 ]]; do
  case "$1" in
    --mode)
      HANDEYE_MODE="${2:?--mode 需要 eye_in_hand 或 eye_to_hand}"
      if [[ "${HANDEYE_MODE}" != "eye_in_hand" && "${HANDEYE_MODE}" != "eye_to_hand" ]]; then
        echo "ERROR: --mode 只能是 eye_in_hand 或 eye_to_hand，收到 '${HANDEYE_MODE}'" >&2
        exit 1
      fi
      shift 2
      ;;
    *)
      _rest+=("$1")
      shift
      ;;
  esac
done
set -- "${_rest[@]}"

# 臂号取 Flexiv 序列号后两位：Rizon4-063989 → 89
_arm_id="${SITE_ROBOT_SN: -2}"

# 取"当前模式"的那一份值。名字由 export_site_env 按模式导出成
#   SITE_HANDEYE_<字段>_EYE_IN_HAND / _EYE_TO_HAND
# 这样"模式 → 结果文件 / 示教点 / 标定板"的对应关系只有 site.yaml 一处定义，
# 脚本不再自己拼文件名（拼错/漏拼都是**静默**用错文件，最难查）。
_HE_TAG="$(echo "${HANDEYE_MODE}" | tr '[:lower:]' '[:upper:]')"
_he() {
  local name="SITE_HANDEYE_$1_${_HE_TAG}"
  printf '%s' "${!name-}"
}

WP="$(_he WAYPOINTS)"
WP="${WP:-${HE_DIR}/poses/${_arm_id:-?}_${HANDEYE_MODE}.yaml}"
RES="$(_he FILE)"
RES="${RES:-${HE_DIR}/results/${_arm_id:-?}_${HANDEYE_MODE}.yaml}"
# 示教点临时文件也按模式分开：两个模式共用一份时，后一个 teach 会清掉前一个的采点，
# 而症状只是"merge 出来的点位不对"，很难联想到是文件串了。
TAUGHT="${WORKDIR}/taught_poses_${HANDEYE_MODE}.txt"

# ---- 相机：两种模式用的是**两台不同的相机** ----
# 眼在手上 = 腕部相机（跟着臂动）；眼在手外 = 固定在工位外的相机（不随臂动）。
# 原来这里恒用 SITE_CAM_NAME（腕部），于是 `--mode eye_to_hand` 会去开腕部相机 ——
# 板跟着臂动、相机也跟着臂动，"标定"能跑完，但解出的是个毫无意义的错外参。
if [[ "${HANDEYE_MODE}" == "eye_to_hand" ]]; then
  CAM="${SITE_OVERHEAD_CAM_NAME:-}"
  if [[ -z "${CAM}" ]]; then
    echo "ERROR: eye_to_hand 需要一台固定相机，但 site.yaml 的 cameras 段里没有登记的。" >&2
    echo "       加一条 role: overhead_eye_to_hand（眼在手外、不随臂动）的相机即可。" >&2
    exit 2
  fi
  CAM_SERIAL="${SITE_OVERHEAD_CAM_SERIAL:-}"
  CAM_WIDTH="${SITE_OVERHEAD_CAM_WIDTH:-}"
  CAM_HEIGHT="${SITE_OVERHEAD_CAM_HEIGHT:-}"
  CAM_FPS="${SITE_OVERHEAD_CAM_FPS:-30}"
  CAM_AE="${SITE_OVERHEAD_CAM_AUTO_EXPOSURE:-1}"
  CAM_AE_LIMIT="${SITE_OVERHEAD_CAM_AE_LIMIT_US:-8000}"
  CAM_EMITTER="${SITE_OVERHEAD_CAM_EMITTER:-1}"
  CAM_EXPOSURE="${SITE_OVERHEAD_CAM_EXPOSURE_US:-0}"
  CAM_GAIN="${SITE_OVERHEAD_CAM_GAIN:-0}"
else
  CAM="${SITE_CAM_NAME:-d405}"
  CAM_SERIAL="${SITE_CAM_SERIAL:-}"
  CAM_WIDTH="${SITE_CAM_WIDTH:-}"
  CAM_HEIGHT="${SITE_CAM_HEIGHT:-}"
  CAM_FPS="${SITE_CAM_FPS:-30}"
  CAM_AE="${SITE_CAM_AUTO_EXPOSURE:-1}"
  CAM_AE_LIMIT="${SITE_CAM_AE_LIMIT_US:-1800}"
  CAM_EMITTER="${SITE_CAM_EMITTER:-0}"
  CAM_EXPOSURE="${SITE_CAM_EXPOSURE_US:-0}"
  CAM_GAIN="${SITE_CAM_GAIN:-0}"
fi
echo "[handeye] mode=${HANDEYE_MODE}  poses=${WP}"
echo "[handeye]                  result=${RES}"
echo "[handeye]                  camera=${CAM} serial=${CAM_SERIAL:-（空）}"


_kill_servo() {
  pkill -f 'visual_servo.launch' 2>/dev/null || true
  pkill -f 'lib/arm_application/servo_node' 2>/dev/null || true
  pkill -f 'lib/arm_application/perception_node' 2>/dev/null || true
  sleep 1
}

_need_files() {
  local f
  for f in "$@"; do
    if [[ ! -f "$f" ]]; then
      echo "ERROR: missing $f" >&2
      exit 2
    fi
  done
}

_need_robot() {
  if ! ros2 service list 2>/dev/null | grep -q '/set_named_pose'; then
    echo "ERROR: start run_real.sh first" >&2
    exit 1
  fi
}

_need_camera() {
  if ! ros2 topic list 2>/dev/null | grep -q "/${CAM}/color/image_raw"; then
    echo "ERROR: no /${CAM}/color/image_raw — start run_camera_d405.sh" >&2
    exit 1
  fi
}

cmd_show() {
  echo "=== hand-eye (package + site) ==="
  echo "  arm         : ${SITE_ROBOT_SN:-} ${SITE_ROBOT_LABEL:-}"
  echo "  package cfg : ${APP_CFG}"
  echo "  calibrate   : ${CAL}"
  echo "  poses       : ${WP}"
  echo "  tour        : ${TOUR}"
  echo "  result      : ${RES}"
  echo "  workdir     : ${WORKDIR}"
  echo "  camera      : ${CAM} serial=${CAM_SERIAL:-（空）}"
  echo "  tool        : ${SITE_ROBOT_TOOL_NAME:-（不切换）}  gripper_tool=${SITE_HANDEYE_GRIPPER_TOOL:-（无，ee_pose 原样）}"
  echo "  board       : $(_he BOARD_COLS)x$(_he BOARD_ROWS) inner, square=$(_he SQUARE) m  (来源=$(_he BOARD_SRC))"
  echo "                （另一种模式的板见下面 export 的 标定板[...] 两行）"
  python3 "${ROOT}/scripts/lib/export_site_env.py" --print || true
  if [[ -f "${WP}" ]]; then
    python3 - <<PY
import re
from pathlib import Path
t = Path("${WP}").read_text(encoding="utf-8")
m = re.search(r"num_poses:\s*(\d+)", t)
n = int(m.group(1)) if m else "?"
print(f"  num_poses in poses yaml: {n}")
PY
  fi
}

cmd_merge() {
  local src="${1:-${TAUGHT}}"
  _need_files "${src}" "${WP}"
  python3 "${ROOT}/handeye/src/merge_handeye_poses.py" "${src}" "${WP}"
  echo "=== next: bash ~/桌面/orisys_arm/handeye/run_handeye.sh calibrate ==="
}

cmd_calibrate() {
  # 先查配置（板尺寸）再看硬件：配置没配好的话，连硬件都不该去动。
  local cols="$(_he BOARD_COLS)"
  local rows="$(_he BOARD_ROWS)"
  local sq="$(_he SQUARE)"
  local src="$(_he BOARD_SRC)"
  # 板尺寸必须**真的配过**。没配就开标定 = 赌一个方格边长，而错了不会报错，
  # 只会让结果系统性偏（见 handeye/README.md 第 3 节）。所以这里直接拦下。
  if [[ -z "${src}" || "${src}" == "default" ]]; then
    echo "ERROR: 没有配置 [${HANDEYE_MODE}] 用的标定板尺寸。" >&2
    echo "       在 config/site.yaml 的 handeye.boards.${HANDEYE_MODE} 里写：" >&2
    echo "         cols / rows / square_size_m" >&2
    echo "       （内角点 = 方格数 − 1；测一下实际方格边长，别照抄另一块板。）" >&2
    exit 2
  fi
  _need_files "${CAL}" "${WP}"
  local grip_tool="${SITE_HANDEYE_GRIPPER_TOOL:-}"
  local grip_xyz="${SITE_HANDEYE_GRIPPER_TCP_XYZ:-}"
  local grip_q="${SITE_HANDEYE_GRIPPER_TCP_QWXYZ:-}"
  if [[ -n "${grip_tool}" ]]; then
    if [[ "${SITE_ROBOT_TOOL_NAME:-}" != "${grip_tool}" ]]; then
      echo "ERROR: 手眼要按工具 ${grip_tool} 求解，但 site 当前激活工具是 '${SITE_ROBOT_TOOL_NAME:-}'。" >&2
      echo "       robots[].tool_name 必须和 handeye.gripper_tool 同一份名字。" >&2
      exit 2
    fi
    if [[ -z "${grip_xyz}" || -z "${grip_q}" ]]; then
      echo "ERROR: 配了 gripper_tool=${grip_tool} 但没写 gripper_tcp_xyz / gripper_tcp_qwxyz。" >&2
      exit 2
    fi
  fi
  _need_robot
  _need_camera
  echo "=== kill visual_servo (avoid traj fight) ==="
  _kill_servo
  mkdir -p "${WORKDIR}"
  local vel="${SITE_HANDEYE_VEL_SCALE:-0.05}"
  local mt="${SITE_HANDEYE_MOVE_T:-8.0}"
  local st="${SITE_HANDEYE_SETTLE_SEC:-1.5}"
  local qd="${SITE_HANDEYE_SETTLE_QD:-0.015}"
  local ss="${SITE_HANDEYE_SETTLE_STABLE:-0.6}"
  local sto="${SITE_HANDEYE_SETTLE_TO:-8.0}"
  local ph="${SITE_HANDEYE_PIN_HOLDS:-2}"
  local ps="${SITE_HANDEYE_PIN_SEC:-0.45}"
  local skip="${SITE_HANDEYE_SKIP_UNSTABLE:-true}"
  echo "=== calibrate mode=${HANDEYE_MODE} ==="
  echo "    board ${cols}x${rows} inner, square=${sq} m  (site.yaml handeye.boards.${HANDEYE_MODE}，来源=${src})"
  echo "    camera ${CAM} serial=${CAM_SERIAL:-（空）}"
  echo "    motion v=${vel} T≥${mt}s settle=${st}s qd≤${qd} pin=${ph}x${ps}s"
  echo "    poses=${WP}"
  echo "    result → ${RES}"
  local grip_args=()
  if [[ -n "${grip_tool}" ]]; then
    if [[ "${HANDEYE_MODE}" == "eye_in_hand" ]]; then
      echo "    gripper_tool=${grip_tool}  tcp_xyz=[${grip_xyz}]  （AX=XB 用 TCP，T_4x4 折成 cam→法兰）"
    else
      echo "    gripper_tool=${grip_tool}  tcp_xyz=[${grip_xyz}]  （AX=XB 用 TCP，T_4x4 仍是 cam→基座，不折）"
    fi
    grip_args+=(
      -p gripper_tool:="${grip_tool}"
      -p gripper_tcp_xyz:="[${grip_xyz}]"
      -p gripper_tcp_qwxyz:="[${grip_q}]"
    )
  fi
  exec python3 "${ROOT}/handeye/src/handeye_calibrate.py" --ros-args \
    --params-file "${CAL}" \
    --params-file "${WP}" \
    -p joint_prefix:="${PREFIX}" \
    -p camera_source:="${CAM}" \
    ${CAM_SERIAL:+-p camera_serial:="${CAM_SERIAL}"} \
    -p output_dir:="${WORKDIR}" \
    -p result_file:="${RES}" \
    -p mode:="${HANDEYE_MODE}" \
    -p board_cols:="${cols}" \
    -p board_rows:="${rows}" \
    -p square_size_m:="${sq}" \
    -p velocity_scale:="${vel}" \
    -p move_time_sec:="${mt}" \
    -p settle_sec:="${st}" \
    -p settle_qd_max:="${qd}" \
    -p settle_stable_sec:="${ss}" \
    -p settle_timeout_sec:="${sto}" \
    -p pin_holds:="${ph}" \
    -p pin_hold_sec:="${ps}" \
    -p skip_unstable_poses:="${skip}" \
    "${grip_args[@]}"
}

cmd_waypoints() {
  _need_files "${TOUR}" "${WP}"
  _need_robot
  _need_camera
  echo "=== kill visual_servo ==="
  _kill_servo
  mkdir -p "${WORKDIR}"
  echo "=== waypoint tour (Enter=confirm, q=quit) ==="
  echo "    saves confirmed joints → ${TAUGHT}"
  echo "    then: bash ~/桌面/orisys_arm/handeye/run_handeye.sh merge"
  handeye_node handeye_waypoints \
    --params-file "${TOUR}" \
    --params-file "${WP}" \
    -p joint_prefix:="${PREFIX}" \
    -p camera_source:="${CAM}" \
    -p append_poses_file:="${TAUGHT}"
}

cmd_teach() {
  local backend="rdk"
  local append=false
  local points=0
  local auto_solve=false
  while [[ $# -gt 0 ]]; do
    case "$1" in
      --rdk) backend="rdk"; shift ;;
      --ros|--pendant) backend="ros"; shift ;;
      --append|--keep) append=true; shift ;;
      --points) points="${2:?--points 需要一个数字}"; shift 2 ;;
      --auto-solve) auto_solve=true; shift ;;
      *) echo "Unknown teach arg: $1" >&2; exit 1 ;;
    esac
  done

  echo "=== kill visual_servo + camera (D405 exclusive) ==="
  _kill_servo
  pkill -f 'run_camera_d405' 2>/dev/null || true
  pkill -f 'realsense_color_pub' 2>/dev/null || true
  pkill -f 'realsense2_camera_node' 2>/dev/null || true
  sleep 1

  if [[ "${backend}" == "rdk" ]]; then
    if ros2 service list 2>/dev/null | grep -q '/set_named_pose'; then
      echo "ERROR: RDK 拖拽与 run_real.sh 互斥。请先在那个终端 Ctrl-C 停掉 run_real.sh" >&2
      exit 1
    fi
  else
    _need_robot
  fi

  mkdir -p "${WORKDIR}/images"
  if [[ "${append}" == true ]]; then
    echo "=== append: keep existing ${TAUGHT} ==="
  else
    # 重新设点：丢掉上次 taught，避免 merge 混进旧位姿
    : > "${TAUGHT}"
  fi
  echo "=== interactive teach backend=${backend} → ${WORKDIR} ==="
  echo "    窗口按键: d=拖拽开  s=拖拽关  Enter=拍照记点  q=结束"
  if [[ "${points}" -gt 0 ]] 2>/dev/null; then
    echo "    目标 ${points} 个点（采够会有提示，仍可继续多采）"
  else
    echo "    建议 8–12 个姿态，棋盘占画面约 30–70%"
    echo "    （也可用 --points N 设定目标点数）"
  fi
  echo "    结束后: bash ~/桌面/orisys_arm/handeye/run_handeye.sh merge"
  echo "            bash ~/桌面/orisys_arm/handeye/run_handeye.sh calibrate"
  if [[ "${auto_solve}" == true ]]; then
    echo "    --auto-solve: 采完会自动 merge，并视后端决定是否直接标定"
  fi
  TEACH_ARGS=(
    -p backend:="${backend}"
    -p robot_sn:="${SITE_ROBOT_SN:?手眼标定必须知道是哪台臂}"
    -p joint_prefix:="${PREFIX}"
    -p camera_source:="${CAM}"
    -p output_dir:="${WORKDIR}"
    -p poses_file:="${TAUGHT}"
    -p target_points:="${points}"
  )
  if [[ -n "${CAM_SERIAL}" ]]; then
    TEACH_ARGS+=(-p camera_serial:="${CAM_SERIAL}")
  fi
  if [[ -n "${CAM_WIDTH}" ]]; then
    TEACH_ARGS+=(-p width:="${CAM_WIDTH}" -p height:="${CAM_HEIGHT:-480}" -p fps:="${CAM_FPS:-30}")
  fi
  TEACH_ARGS+=(
    -p auto_exposure:="$([ "${CAM_AE:-1}" = "1" ] && echo true || echo false)"
    -p ae_limit_us:="${CAM_AE_LIMIT:-1800}"
    -p emitter_enabled:="$([ "${CAM_EMITTER:-0}" = "1" ] && echo true || echo false)"
    -p exposure_us:="${CAM_EXPOSURE:-0}"
    -p gain:="${CAM_GAIN:-0}"
  )
  python3 "${ROOT}/handeye/src/handeye_teach.py" --ros-args "${TEACH_ARGS[@]}" || true

  # ---- 采点结束 ----
  if [[ "${auto_solve}" != true ]]; then
    echo
    echo "采点结束。接着跑（或下次加 --auto-solve 让它自动接）："
    echo "  bash ~/桌面/orisys_arm/handeye/run_handeye.sh merge     --arm ${SITE_ROBOT_ARM:-89}"
    echo "  bash ~/桌面/orisys_arm/handeye/run_handeye.sh calibrate --arm ${SITE_ROBOT_ARM:-89}"
    return 0
  fi

  echo
  echo "=== --auto-solve: 自动 merge ==="
  if [[ ! -s "${TAUGHT}" ]]; then
    echo "ERROR: 没采到任何点（${TAUGHT} 为空），中止。" >&2
    return 1
  fi
  if ! python3 "${ROOT}/handeye/src/merge_handeye_poses.py" "${TAUGHT}" "${WP}"; then
    echo "ERROR: merge 失败，点还在 ${TAUGHT}，可手动重跑 merge。" >&2
    return 1
  fi
  echo "    已写入 ${WP}"

  # RDK 软拖拽与控制器互斥：软拖拽要 RDK 独占，标定必须在 run_real.sh 的
  # 控制器上走点位，两者无法同时存在。这是硬件约束，脚本绕不过去，
  # 所以这里如实停下并给出下一步，而不是硬跑一个必然失败的 calibrate。
  if [[ "${backend}" == "rdk" ]]; then
    echo
    echo "⚠️  当前是 RDK 拖拽模式（--rdk），无法自动接着求解。"
    echo "    原因：软拖拽需要 RDK 独占，而标定需要通过 run_real.sh 的控制器走点位，"
    echo "    两者不能同时存在。"
    echo
    echo "    继续两步即可："
    echo "      1) 另开终端: bash ~/ros2/scripts/run_real.sh --arm ${SITE_ROBOT_ARM:-89}"
    echo "      2) 回到这里: bash ~/桌面/orisys_arm/handeye/run_handeye.sh calibrate --arm ${SITE_ROBOT_ARM:-89}"
    echo
    echo "    想真正一条命令跑完，请改用示教器 Free Drive 模式："
    echo "      bash ~/桌面/orisys_arm/handeye/run_handeye.sh teach --ros --auto-solve"
    return 0
  fi

  # --ros（示教器）后端：控制器本来就在跑，可以无缝接上标定。
  # 但 teach 阶段把相机杀掉了（USB 独占），标定拍照要用，得先拉回来。
  echo
  echo "=== 重启相机（teach 阶段杀掉了它，标定拍照需要）==="
  if [[ "${HANDEYE_MODE}" == "eye_to_hand" ]]; then
    # 眼在手外用的是固定相机（D435），不是腕部 D405 —— 拉错相机的话，
    # 标定会去订一个没人发布的图，表现是"相机没数据"。
    _cam_cmd=(bash "${ROOT}/scripts/run_camera_d435.sh" --no-preview)
  else
    _cam_cmd=(bash "${ROOT}/scripts/run_camera_d405.sh" --arm "${SITE_ROBOT_ARM:-89}" --no-preview)
  fi
  nohup "${_cam_cmd[@]}" > /tmp/run_handeye_camera.log 2>&1 &
  echo "    pid=$!  log=/tmp/run_handeye_camera.log"
  # _need_camera 内部失败时会自己打印原因并 exit，不需要在这里再判一次。
  _need_camera

  echo
  echo "=== --auto-solve: 自动 calibrate ==="
  cmd_calibrate
}

case "${CMD}" in
  calibrate|calib) cmd_calibrate ;;
  waypoints|tour) cmd_waypoints "$@" ;;
  teach) cmd_teach "$@" ;;
  merge) cmd_merge "$@" ;;
  show) cmd_show ;;
  -h|--help|help|"") usage; [[ -n "${CMD}" ]] || exit 0; exit 0 ;;
  *) echo "Unknown: ${CMD}" >&2; usage >&2; exit 1 ;;
esac