#!/usr/bin/env bash
# Orisys 视触觉（指端相机，不是 D405）。配置：site.yaml 的 tactile:
#
#   bash ~/ros2/scripts/run_tactile.sh --cli
#   bash ~/ros2/scripts/run_tactile.sh          # ROS 节点 /tactile/left|right/status

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

while [[ $# -gt 0 ]]; do
  case "$1" in
    --cli) CLI=1; shift ;;
    -h|--help) sed -n '2,10p' "$0"; exit 0 ;;
    *) echo "Unknown: $1" >&2; exit 1 ;;
  esac
done

# shellcheck disable=SC1091
source "${ROOT}/scripts/lib/load_site_config.sh"
# shellcheck disable=SC1091
source "${ROOT}/scripts/env.sh"

echo "=== tactile  backend=${SITE_TACTILE_BACKEND:-orisys}  L=${SITE_TACTILE_LEFT:-0} R=${SITE_TACTILE_RIGHT:-2}  cfg=${SITE_TACTILE_CONFIG:-dd03} ==="

if [[ "${CLI}" -eq 1 ]]; then
  exec python3 -m arm_application.tactile_cli
fi

pkill -f 'arm_application/tactile_node.py' 2>/dev/null || true
pkill -f 'lib/arm_application/tactile' 2>/dev/null || true
pkill orisys_tac_w 2>/dev/null || true   # 清理孤儿 worker（占死 /dev/video*）
sleep 0.2
exec ros2 launch arm_application tactile.launch.py