#!/usr/bin/env bash
# 检查 PC ↔ Flexiv 机器人网络（地址取自 site.yaml）
set -euo pipefail

ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
# shellcheck disable=SC1091
source "${ROOT}/scripts/lib/load_site_config.sh" 2>/dev/null || true

ROBOT_IP="${ROBOT_IP:-${SITE_ROBOT_IP:-192.168.100.1}}"
ROBOT_SN="${ROBOT_SN:-${SITE_ROBOT_SN:-Rizon4-063989}}"
PC_IP="${PC_IP:-${SITE_PC_IP:-192.168.100.10}}"

pick_iface() {
  if [[ -n "${IFACE:-}" ]]; then
    echo "$IFACE"
    return
  fi
  if [[ -n "${SITE_NET_IFACE:-}" && -d "/sys/class/net/${SITE_NET_IFACE}" ]]; then
    echo "${SITE_NET_IFACE}"
    return
  fi
  local d
  for d in enp4s0 enp5s0 eth0; do
    [[ -d /sys/class/net/$d ]] && echo "$d" && return
  done
  for d in $(ls /sys/class/net); do
    [[ "$d" == lo ]] && continue
    [[ "$d" == en* || "$d" == eth* ]] || continue
    local state
    state=$(cat /sys/class/net/"$d"/operstate 2>/dev/null || echo down)
    [[ "$state" == up ]] && echo "$d" && return
  done
  echo enp4s0
}

IFACE="$(pick_iface)"

echo "=== 本机网卡 ==="
ip -4 -br addr

echo
echo "=== 目标机器人（site.yaml） ==="
echo "  SN     $ROBOT_SN"
echo "  标签   ${SITE_ROBOT_LABEL:-}"
echo "  目录   ${SITE_ROBOT_CATALOG:-}"
echo "  IP     $ROBOT_IP"
echo "  本机   $PC_IP"
echo "  网卡   $IFACE"
if ping -c 1 -W 1 "$ROBOT_IP" >/dev/null 2>&1; then
  echo "  ping UP — 链路 OK"
else
  echo "  ping DOWN — PC 与机器人必须同网段（本机 ${PC_IP} ↔ 机器人 ${ROBOT_IP}）"
  echo
  echo "  一键修复（交换机 / 有线）："
  echo "    bash ~/ros2/scripts/fix_robot_lan.sh"
  echo "  独立交换机（不要办公网 DHCP）可用："
  echo "    bash ~/ros2/scripts/fix_robot_lan.sh --only"
fi

echo
echo "=== 常见地址探测 ==="
CANDIDATES=(
  "$ROBOT_IP"
  192.168.2.100 192.168.2.10 192.168.101.1 192.168.101.10
  192.168.100.1 192.168.100.10
  192.168.100.1 192.168.100.2 192.168.100.10
  192.168.1.1
)
seen=""
for ip in "${CANDIDATES[@]}"; do
  [[ " ${seen} " == *" ${ip} "* ]] && continue
  seen+=" ${ip}"
  if ping -c 1 -W 1 "$ip" >/dev/null 2>&1; then
    echo "  UP   $ip"
  else
    echo "  down $ip"
  fi
done

echo
echo "=== 当前邻居 (ARP) ==="
ip neigh | grep -v FAILED || true

echo
echo "说明："
echo "1) 网线接机器人控制柜网口 ↔ 本机 $IFACE。"
echo "2) 示教器开启 RDK / 远程控制后再连。"
echo "3) RDK 连接用 SN（不是 IP）：flexivrdk.Robot('$ROBOT_SN')"
echo "4) 切换机械臂：改 ~/ros2/config/site.yaml 的 robot.sn"
echo "5) 手册: https://flexiv.cn/software/rdk/manual/index.html"