#!/usr/bin/env bash
# 真机 Rizon4 启动入口 —— 设置 RDK 运行时库，然后以 backend:=real 启动整栈
# 注意：这里不加 `set -u` —— conda/RoboStack 的钩子会引用未绑定的变量（CONDA_BUILD、COLCON_TRACE）
#
#   bash ~/ros2/scripts/run_real.sh
#   bash ~/ros2/scripts/run_real.sh --arm 91
#   bash ~/ros2/scripts/run_real.sh --sn Rizon4-063991   # 本次启动换臂（不改 yaml）
set -eo pipefail

ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
FLEXIV_PREFIX="${HOME}/flexiv_install"
LIST_ONLY=false
NO_STOP=false

while [[ $# -gt 0 ]]; do
  case "$1" in
    --sn|--arm) export ROBOT_SN="${2:?}"; export ROBOT_ARM="${2}"; shift 2 ;;
    --no-stop) NO_STOP=true; shift ;;
    --list|-l) LIST_ONLY=true; shift ;;
    -h|--help)
      sed -n '2,8p' "$0"
      echo "  Extra args are passed to ros2 launch (e.g. use_rviz:=false)."
      exit 0
      ;;
    *) break ;;
  esac
done

source /home/cc/anaconda3/etc/profile.d/conda.sh
conda activate ros_flexiv
# shellcheck disable=SC1091
source "${ROOT}/install/setup.bash"
# shellcheck disable=SC1091
source "${ROOT}/scripts/lib/load_site_config.sh"
# 真机与仿真的 DDS 域隔离：这个入口**不经过** env.sh，所以这里也得纠正一次。
# shellcheck source=lib/ros_domain.sh
source "${ROOT}/scripts/lib/ros_domain.sh"
ros_domain_force_real

# `flexiv_hardware` 必须从 flexiv_install 加载 spdlog/RBDyn（不能用 conda 的 fmt v11）
export LD_LIBRARY_PATH="${FLEXIV_PREFIX}/lib:${LD_LIBRARY_PATH:-}"

# `SITE_ROBOT_SN` 是解析后的 Flexiv 序列号（89/91 别名已经映射好了）。
ROBOT_SN="${SITE_ROBOT_SN:?run_real.sh 需要已配置的机械臂 SN —— 见 scripts/lib/load_site_config.sh 的报错}"
ROBOT_IP="${ROBOT_IP:-${SITE_ROBOT_IP:-192.168.100.1}}"
NET_IFACE="${SITE_NET_IFACE:-}"
RDK_PYTHON="${RDK_PYTHON:-/home/cc/rdk_py310/bin/python}"

if [[ "${LIST_ONLY}" == true ]]; then
  python3 "${ROOT}/scripts/lib/export_site_env.py" --print
  exit 0
fi

echo "=== site: ${SITE_CONFIG:-n/a}  SN=${ROBOT_SN}  ${SITE_ROBOT_LABEL:-}  arm=${SITE_ROBOT_ARM:-} ==="
echo "=== catalog: ${SITE_ROBOT_CATALOG:-} ==="
echo "=== handeye: ${SITE_HANDEYE_FILE:-} ==="
echo "=== camera serial: ${SITE_CAM_SERIAL:-}  gripper: ${SITE_GRIP_MODEL:-} ${SITE_GRIP_PORT:-} ==="
echo "=== network iface=${NET_IFACE:-auto}  robot=${ROBOT_IP}  pc=${SITE_PC_IP:-} ==="
if [[ "${NO_STOP}" == true ]]; then
  echo "=== --no-stop：不扫 install/（感知和伺服还在，扫了会把自己杀掉）==="
else
echo "=== stop leftover real stack (RDK exclusive) ==="
# 以前这里是两行 pkill（ros2_control_node + stack.launch），漏掉了
# arm_control 那一族**独立存活**的孤儿（adapter / named_pose_server /
# arm_status_node / joint_state_publisher）—— 它们会冒名顶替新一轮的栈，
# 见 lib/real_procs.sh 的文件头。扫描规则与 stop_real.sh 共用一份。
# shellcheck source=lib/real_procs.sh
source "${ROOT}/scripts/lib/real_procs.sh"
mapfile -t _stale < <(real_proc_targets)
if [ "${#_stale[@]}" != "0" ]; then
  echo "清掉上一轮残留（${#_stale[@]} 个）："
  for _pid in "${_stale[@]}"; do
    printf '  %-7s %s\n' "$_pid" "$(ps -o args= -p "$_pid" 2>/dev/null | cut -c1-120)"
    kill -TERM "$_pid" 2>/dev/null || true
  done
  sleep 1
  for _pid in "${_stale[@]}"; do
    kill -0 "$_pid" 2>/dev/null && kill -KILL "$_pid" 2>/dev/null || true
  done
  unset _pid
fi
unset _stale
fi
sleep 1
# 清掉把 91 的 .100 误绑到 89 MAC 上的陈旧 ARP
if [[ -n "${NET_IFACE}" ]]; then
  ip neigh del "${ROBOT_IP}" dev "${NET_IFACE}" 2>/dev/null || true
fi
if ping -c 2 -W 1 "${ROBOT_IP}" >/dev/null 2>&1; then
  echo "robot ${ROBOT_IP} ping OK"
else
  echo "WARN: cannot ping ${ROBOT_IP} — 这一台不在网里，RDK 大概率会失败。"
  echo "  本机: $(ip -4 -o addr show dev "${NET_IFACE:-enp4s0}" 2>/dev/null | awk '{print $4}' | tr '\n' ' ')"
  echo "  ARP ${ROBOT_IP}: $(ip neigh show "${ROBOT_IP}" 2>/dev/null | head -1 || echo none)"
  MAC91="$(ip neigh show "${ROBOT_IP}" 2>/dev/null | awk '{print $5}' | head -1)"
  MAC89="$(ip neigh show 192.168.2.101 2>/dev/null | awk '{print $5}' | head -1)"
  if [[ -n "${MAC91}" && -n "${MAC89}" && "${MAC91}" == "${MAC89}" ]]; then
    echo "  ARP MAC 与 89(192.168.2.101) 相同 → .100 是误绑，91 并没有回包。"
  fi
  echo "  91 请接控制柜 User Port 1（出厂静态 192.168.2.100）到同一交换机，示教器 AUTO+Remote Ethernet。"
  echo "  89=192.168.2.101   91=192.168.2.100"
fi

echo "=== RDK preflight + tool (${ROBOT_SN}) ==="
TOOL_NAME="${SITE_ROBOT_TOOL_NAME:-}"
RDK_TOOL_ARGS=(--sn "${ROBOT_SN}")
if [[ -n "${NET_IFACE}" ]]; then
  RDK_TOOL_ARGS+=(--iface "${NET_IFACE}")
fi
if [[ -n "${TOOL_NAME}" ]]; then
  RDK_TOOL_ARGS+=(--name "${TOOL_NAME}")
  echo "=== Studio tool → ${TOOL_NAME} ==="
fi
if ! "${RDK_PYTHON}" "${ROOT}/scripts/rdk_switch_tool.py" "${RDK_TOOL_ARGS[@]}"; then
  echo ""
  echo "ERROR: RDK cannot connect / switch tool on ${ROBOT_SN}."
  echo "  先确认 ping ${ROBOT_IP} 通（91=控制柜 User Port 1 → 192.168.2.100）。"
  echo "  Stop any other RDK client (this run_real.sh is exclusive)."
  echo "  On teach pendant: Settings → Remote → enable Ethernet/RDK remote mode."
  echo "  Test: bash ${ROOT}/scripts/test_rdk_python.sh ${ROBOT_SN}"
  exit 1
fi

exec ros2 launch arm_bringup stack.launch.py backend:=real robot_sn:="${ROBOT_SN}" "$@"