#!/usr/bin/env bash
# Hand-eye calibration helpers.
# Scripts: ~/ros2/scripts/run_handeye.sh
# Package YAML: ~/ros2/src/arm_application/config/handeye_*.yaml
# Site overrides (board / motion): ~/ros2/config/site.yaml → handeye:
# Runtime output: /tmp/handeye_calib/
#
# Usage:
#   bash ~/ros2/scripts/run_handeye.sh calibrate
#   bash ~/ros2/scripts/run_handeye.sh waypoints
#   bash ~/ros2/scripts/run_handeye.sh teach          # RDK 软拖拽（推荐）
#   bash ~/ros2/scripts/run_handeye.sh teach --append # 接着上次点位继续采
#   bash ~/ros2/scripts/run_handeye.sh teach --ros    # 示教器 Free Drive
#   bash ~/ros2/scripts/run_handeye.sh merge [taught.txt]
#   bash ~/ros2/scripts/run_handeye.sh --arm 91 teach
#   bash ~/ros2/scripts/run_handeye.sh --arm 91 calibrate
#
# calibrate / waypoints 需要:
#   T1: bash ~/ros2/scripts/run_real.sh --arm 89|91
#   T2: bash ~/ros2/scripts/run_camera_d405.sh --arm 89|91 --preview
# teach（拖拽）需要: 先停掉 run_real.sh 和相机（RDK + D405 都独占）
# 89 与 91 的结果文件、示教点、workdir 完全分开，禁止混用。

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

# shellcheck disable=SC1091
source "${ROOT}/scripts/lib/parse_arm_args.sh"
parse_arm_args "$@"
set -- "${PARSE_ARM_REST[@]}"
CMD="${1:-}"
shift || true

usage() {
  sed -n '2,18p' "$0"
}

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

# Prefer package source tree (editable); fall back to install share
APP_CFG="${ROOT}/src/arm_application/config"
if [[ ! -d "${APP_CFG}" ]]; then
  APP_CFG="$(ros2 pkg prefix arm_application 2>/dev/null)/share/arm_application/config" || true
fi

WP="${SITE_HANDEYE_WAYPOINTS:-${APP_CFG}/handeye_poses.yaml}"
CAL="${SITE_HANDEYE_CALIBRATE:-${APP_CFG}/handeye_calibrate.yaml}"
TOUR="${SITE_HANDEYE_TOUR:-${APP_CFG}/handeye_waypoints.yaml}"
RES="${SITE_HANDEYE_FILE:-${APP_CFG}/handeye_result.yaml}"
WORKDIR="${SITE_HANDEYE_WORKDIR:-/tmp/handeye_calib}"
TAUGHT="${WORKDIR}/taught_poses.txt"
PREFIX="${SITE_JOINT_PREFIX:-Rizon4-063989_}"
CAM="${SITE_CAM_NAME:-d405}"

_kill_servo() {
  pkill -f 'visual_servo.launch' 2>/dev/null || true
  pkill -f 'lib/arm_application/servo_node' 2>/dev/null || true
  pkill -f 'lib/arm_application/perception_node' 2>/dev/null || true
  sleep 1
}

_need_files() {
  local f
  for f in "$@"; do
    if [[ ! -f "$f" ]]; then
      echo "ERROR: missing $f" >&2
      exit 2
    fi
  done
}

_need_robot() {
  if ! ros2 service list 2>/dev/null | grep -q '/set_named_pose'; then
    echo "ERROR: start run_real.sh first" >&2
    exit 1
  fi
}

_need_camera() {
  if ! ros2 topic list 2>/dev/null | grep -q "/${CAM}/color/image_raw"; then
    echo "ERROR: no /${CAM}/color/image_raw — start run_camera_d405.sh" >&2
    exit 1
  fi
}

cmd_show() {
  echo "=== hand-eye (package + site) ==="
  echo "  arm         : ${SITE_ROBOT_SN:-} ${SITE_ROBOT_LABEL:-}"
  echo "  package cfg : ${APP_CFG}"
  echo "  calibrate   : ${CAL}"
  echo "  poses       : ${WP}"
  echo "  tour        : ${TOUR}"
  echo "  result      : ${RES}"
  echo "  workdir     : ${WORKDIR}"
  echo "  board       : ${SITE_HANDEYE_BOARD_COLS:-?}x${SITE_HANDEYE_BOARD_ROWS:-?} inner, square=${SITE_HANDEYE_SQUARE_M:-?} m"
  python3 "${ROOT}/scripts/lib/export_site_env.py" --print || true
  if [[ -f "${WP}" ]]; then
    python3 - <<PY
import re
from pathlib import Path
t = Path("${WP}").read_text(encoding="utf-8")
m = re.search(r"num_poses:\s*(\d+)", t)
n = int(m.group(1)) if m else "?"
print(f"  num_poses in poses yaml: {n}")
PY
  fi
}

cmd_merge() {
  local src="${1:-${TAUGHT}}"
  _need_files "${src}" "${WP}"
  python3 "${ROOT}/scripts/merge_handeye_poses.py" "${src}" "${WP}"
  echo "=== next: bash ~/ros2/scripts/run_handeye.sh calibrate ==="
}

cmd_calibrate() {
  _need_files "${CAL}" "${WP}"
  _need_robot
  _need_camera
  echo "=== kill visual_servo (avoid traj fight) ==="
  _kill_servo
  mkdir -p "${WORKDIR}"
  local cols="${SITE_HANDEYE_BOARD_COLS:-11}"
  local rows="${SITE_HANDEYE_BOARD_ROWS:-16}"
  local sq="${SITE_HANDEYE_SQUARE_M:-0.011}"
  local vel="${SITE_HANDEYE_VEL_SCALE:-0.05}"
  local mt="${SITE_HANDEYE_MOVE_T:-8.0}"
  local st="${SITE_HANDEYE_SETTLE_SEC:-1.5}"
  local qd="${SITE_HANDEYE_SETTLE_QD:-0.015}"
  local ss="${SITE_HANDEYE_SETTLE_STABLE:-0.6}"
  local sto="${SITE_HANDEYE_SETTLE_TO:-8.0}"
  local ph="${SITE_HANDEYE_PIN_HOLDS:-2}"
  local ps="${SITE_HANDEYE_PIN_SEC:-0.45}"
  local skip="${SITE_HANDEYE_SKIP_UNSTABLE:-true}"
  echo "=== calibrate mode=${SITE_HANDEYE_MODE:-eye_in_hand} ==="
  echo "    board ${cols}x${rows} inner, square=${sq} m  (from site.yaml)"
  echo "    motion v=${vel} T≥${mt}s settle=${st}s qd≤${qd} pin=${ph}x${ps}s"
  echo "    poses=${WP}"
  echo "    result → ${RES}"
  exec ros2 run arm_application handeye_calibrate --ros-args \
    --params-file "${CAL}" \
    --params-file "${WP}" \
    -p joint_prefix:="${PREFIX}" \
    -p camera_source:="${CAM}" \
    -p output_dir:="${WORKDIR}" \
    -p result_file:="${RES}" \
    -p mode:="${SITE_HANDEYE_MODE:-eye_in_hand}" \
    -p board_cols:="${cols}" \
    -p board_rows:="${rows}" \
    -p square_size_m:="${sq}" \
    -p velocity_scale:="${vel}" \
    -p move_time_sec:="${mt}" \
    -p settle_sec:="${st}" \
    -p settle_qd_max:="${qd}" \
    -p settle_stable_sec:="${ss}" \
    -p settle_timeout_sec:="${sto}" \
    -p pin_holds:="${ph}" \
    -p pin_hold_sec:="${ps}" \
    -p skip_unstable_poses:="${skip}"
}

cmd_waypoints() {
  _need_files "${TOUR}" "${WP}"
  _need_robot
  _need_camera
  echo "=== kill visual_servo ==="
  _kill_servo
  mkdir -p "${WORKDIR}"
  echo "=== waypoint tour (Enter=confirm, q=quit) ==="
  echo "    saves confirmed joints → ${TAUGHT}"
  echo "    then: bash ~/ros2/scripts/run_handeye.sh merge"
  exec ros2 run arm_application handeye_waypoints --ros-args \
    --params-file "${TOUR}" \
    --params-file "${WP}" \
    -p joint_prefix:="${PREFIX}" \
    -p camera_source:="${CAM}" \
    -p append_poses_file:="${TAUGHT}"
}

cmd_teach() {
  local backend="rdk"
  local append=false
  while [[ $# -gt 0 ]]; do
    case "$1" in
      --rdk) backend="rdk"; shift ;;
      --ros|--pendant) backend="ros"; shift ;;
      --append|--keep) append=true; shift ;;
      *) echo "Unknown teach arg: $1" >&2; exit 1 ;;
    esac
  done

  echo "=== kill visual_servo + camera (D405 exclusive) ==="
  _kill_servo
  pkill -f 'run_camera_d405' 2>/dev/null || true
  pkill -f 'realsense_color_pub' 2>/dev/null || true
  pkill -f 'realsense2_camera_node' 2>/dev/null || true
  sleep 1

  if [[ "${backend}" == "rdk" ]]; then
    if ros2 service list 2>/dev/null | grep -q '/set_named_pose'; then
      echo "ERROR: RDK 拖拽与 run_real.sh 互斥。请先在那个终端 Ctrl-C 停掉 run_real.sh" >&2
      exit 1
    fi
  else
    _need_robot
  fi

  mkdir -p "${WORKDIR}/images"
  if [[ "${append}" == true ]]; then
    echo "=== append: keep existing ${TAUGHT} ==="
  else
    # 重新设点：丢掉上次 taught，避免 merge 混进旧位姿
    : > "${TAUGHT}"
  fi
  echo "=== interactive teach backend=${backend} → ${WORKDIR} ==="
  echo "    窗口按键: d=拖拽开  s=拖拽关  Enter=拍照记点  q=结束"
  echo "    建议 8–12 个姿态，棋盘占画面约 30–70%"
  echo "    结束后: bash ~/ros2/scripts/run_handeye.sh merge"
  echo "            bash ~/ros2/scripts/run_handeye.sh calibrate"
  TEACH_ARGS=(
    -p backend:="${backend}"
    -p robot_sn:="${SITE_ROBOT_SN:-Rizon4-063989}"
    -p joint_prefix:="${PREFIX}"
    -p camera_source:="${CAM}"
    -p output_dir:="${WORKDIR}"
  )
  if [[ -n "${SITE_CAM_SERIAL:-}" ]]; then
    TEACH_ARGS+=(-p camera_serial:="${SITE_CAM_SERIAL}")
  fi
  if [[ -n "${SITE_CAM_WIDTH:-}" ]]; then
    TEACH_ARGS+=(-p width:="${SITE_CAM_WIDTH}" -p height:="${SITE_CAM_HEIGHT:-480}" -p fps:="${SITE_CAM_FPS:-30}")
  fi
  TEACH_ARGS+=(
    -p auto_exposure:="$([ "${SITE_CAM_AUTO_EXPOSURE:-1}" = "1" ] && echo true || echo false)"
    -p ae_limit_us:="${SITE_CAM_AE_LIMIT_US:-1800}"
    -p emitter_enabled:="$([ "${SITE_CAM_EMITTER:-0}" = "1" ] && echo true || echo false)"
    -p exposure_us:="${SITE_CAM_EXPOSURE_US:-0}"
    -p gain:="${SITE_CAM_GAIN:-0}"
  )
  exec ros2 run arm_application handeye_teach --ros-args "${TEACH_ARGS[@]}"
}

case "${CMD}" in
  calibrate|calib) cmd_calibrate ;;
  waypoints|tour) cmd_waypoints "$@" ;;
  teach) cmd_teach "$@" ;;
  merge) cmd_merge "$@" ;;
  show) cmd_show ;;
  -h|--help|help|"") usage; [[ -n "${CMD}" ]] || exit 0; exit 0 ;;
  *) echo "Unknown: ${CMD}" >&2; usage >&2; exit 1 ;;
esac