#!/usr/bin/env bash
# Switch / list Flexiv Studio tools via RDK (reads name from site.yaml).
#
#   bash ~/ros2/scripts/rdk_switch_tool.sh            # switch to robot.tool_name
#   bash ~/ros2/scripts/rdk_switch_tool.sh --list     # print Studio tool pool
#   bash ~/ros2/scripts/rdk_switch_tool.sh --name Flange
#
# Stop run_real.sh first — RDK allows only one client.

set -eo pipefail
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
# shellcheck disable=SC1091
source "${ROOT}/scripts/lib/load_site_config.sh"

RDK_PYTHON="${RDK_PYTHON:-/home/cc/rdk_py310/bin/python}"
SN="${ROBOT_SN:-${SITE_ROBOT_SN:-Rizon4-063989}}"
NAME="${SITE_ROBOT_TOOL_NAME:-}"
IFACE="${SITE_NET_IFACE:-}"

LIST=false
while [[ $# -gt 0 ]]; do
  case "$1" in
    --list|-l) LIST=true; shift ;;
    --name) NAME="$2"; shift 2 ;;
    --sn) SN="$2"; shift 2 ;;
    --iface) IFACE="$2"; shift 2 ;;
    -h|--help) sed -n '2,12p' "$0"; exit 0 ;;
    *) echo "Unknown: $1" >&2; exit 1 ;;
  esac
done

ARGS=(--sn "${SN}")
if [[ -n "${IFACE}" ]]; then
  ARGS+=(--iface "${IFACE}")
fi
if [[ "${LIST}" == true ]]; then
  ARGS+=(--list)
elif [[ -n "${NAME}" ]]; then
  ARGS+=(--name "${NAME}")
fi

exec "${RDK_PYTHON}" "${ROOT}/scripts/rdk_switch_tool.py" "${ARGS[@]}"