#!/usr/bin/env bash
# Source this workspace environment (conda + ROS + flexiv libs).
# Usage: source scripts/env.sh
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"

if [[ -f /opt/ros/humble/setup.bash ]]; then
  # shellcheck disable=SC1091
  source /opt/ros/humble/setup.bash
elif [[ -f /opt/ros/jazzy/setup.bash ]]; then
  # shellcheck disable=SC1091
  source /opt/ros/jazzy/setup.bash
fi

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

# shellcheck disable=SC1091
source "${ROOT}/install/setup.bash"
export LD_LIBRARY_PATH="${HOME}/flexiv_install/lib:${LD_LIBRARY_PATH:-}"
# Pip TensorRT (tensorrt-cu12) — needed to load YOLO .engine
_TRT_SITE="${CONDA_PREFIX:-${HOME}/anaconda3/envs/ros_flexiv}/lib/python3.11/site-packages"
for _d in "${_TRT_SITE}/tensorrt" "${_TRT_SITE}/tensorrt_libs" "${_TRT_SITE}/nvidia/tensorrt/lib"; do
  if [[ -d "${_d}" ]]; then
    export LD_LIBRARY_PATH="${_d}:${LD_LIBRARY_PATH}"
  fi
done
unset _d _TRT_SITE
export YOLO_AUTOINSTALL=false
export ROS2_WS="${ROOT}"

# Master site config → SITE_* (YOLO weights, camera, robot SN, …)
# shellcheck disable=SC1091
source "${ROOT}/scripts/lib/load_site_config.sh" 2>/dev/null || true