#!/usr/bin/env bash
# 加载本工作区环境（conda + ROS + flexiv 库）。
# 用法：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"
  # 干净切换：先把堆叠的激活退到 base，再激活真机环境。
  # 同一 shell 里从仿真环境(ros_gz_sim)切过来时，不清干净会残留 PATH/PYTHONPATH，
  # 导致 python/pip 解析到另一个环境的包，构建报 "--editable not recognized"
  # 之类与真实原因无关的错。详见 scripts/lib/conda_switch.sh。
  _env_helper="${ROOT}/scripts/lib/conda_switch.sh"
  if [[ -f "${_env_helper}" ]]; then
    # shellcheck disable=SC1090
    source "${_env_helper}"
    conda_switch_clean "ros_flexiv" "${SIM_ENV_NAME:-ros_gz_sim}" || \
      conda activate ros_flexiv 2>/dev/null || true
  else
    conda activate ros_flexiv 2>/dev/null || true
  fi
  unset _env_helper
fi

if [[ -f "${ROOT}/install/setup.bash" ]]; then
  # shellcheck disable=SC1091
  source "${ROOT}/install/setup.bash"
else
  echo "警告：${ROOT}/install 还没编译。工位窗口可以先开；真机栈要先在仓库根目录 colcon build（不要在中文路径下编）。" >&2
fi
export LD_LIBRARY_PATH="${HOME}/flexiv_install/lib:${LD_LIBRARY_PATH:-}"
# pip 版 TensorRT（tensorrt-cu12）—— 加载 YOLO `.engine` 需要它
_TRT_SITE="${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}"

# 真机与仿真的 DDS 隔离（细节与踩坑见 lib/ros_domain.sh 的文件头）。
# shellcheck source=lib/ros_domain.sh
source "${ROOT}/scripts/lib/ros_domain.sh"
ros_domain_force_real

# 主站点配置 → `SITE_*`（YOLO 权重、相机、机器人 SN……）
# shellcheck disable=SC1091
source "${ROOT}/scripts/lib/load_site_config.sh" 2>/dev/null || true