#!/usr/bin/env bash
# 列出已插上的 RealSense 相机（序列号在 site.yaml 里使用）。
set -eo pipefail
python3 - <<'PY'
import pyrealsense2 as rs
known = {
    "352122274408": "left wrist D405 (arm 89, parallel gripper)",
    "260522274442": "right wrist D405 (arm 91, rotary gripper)",
    "262522073161": "overhead D435 (between arms, eye-to-hand)",
}
ds = list(rs.context().devices)
print(f"n={len(ds)}")
for d in ds:
    sn = d.get_info(rs.camera_info.serial_number)
    name = d.get_info(rs.camera_info.name)
    usb = d.get_info(rs.camera_info.usb_type_descriptor)
    fw = d.get_info(rs.camera_info.firmware_version)
    role = known.get(sn, "(unassigned — add to site.yaml cameras:)")
    print(f"  {name:22} serial={sn} USB={usb} fw={fw}")
    print(f"    -> {role}")
PY