#!/usr/bin/env bash
# Hand-eye calibration helpers.
# Scripts: ~/ros2/scripts/run_handeye.sh
# Config & results: ~/ros2/handeye/            ← 见 handeye/README.md
#   poses/<臂号>_<模式>.yaml     采点（输入）
#   results/<臂号>_<模式>.yaml   标定结果（输出）
#   calibrate.yaml               板尺寸 / 运动 / 稳定性参数
#   tmp/                         临时产物
# Site overrides: ~/ros2/config/site.yaml → handeye:
#
# 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 --ros --auto-solve
#                             # 示教器模式 + 采完自动 merge 并直接标定（一条命令跑完）
#   bash ~/ros2/scripts/run_handeye.sh teach --points 12   # 目标采 12 个点
#   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 show           # 看当前配置与点数
#
# 关于 --auto-solve（采完自动标定）的重要限制:
#   只有 --ros（示教器）模式能真正一条命令跑完。因为标定必须在 run_real.sh 的
#   控制器上走点位，而 --rdk 软拖拽要 RDK 独占，两者互斥 —— 这是硬件约束。
#   --rdk --auto-solve 会照常自动 merge，然后明确告诉你接下来那两条命令。
#
# 全局选项（放在子命令前或后都可以）:
#   --arm 89|91|left|right   选臂（默认 89）
#   --mode eye_in_hand|eye_to_hand
#                            选模式。会切换到 <臂号>_<模式>.yaml，
#                            所以 eye_in_hand 与 eye_to_hand 的结果互不覆盖
#   --points N               仅 teach：目标采集点数（0=不限）
#
# 例：
#   bash ~/ros2/scripts/run_handeye.sh --arm 91 teach --mode eye_to_hand --points 15
#
# 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 '2,40p' "$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

# 手眼标定相关文件现在集中在仓库根的 handeye/ 下（见 handeye/README.md）。
# 这些 SHE 值正常情况下由 site.yaml → export_site_env.py 提供；
# 下面只是 shell 侧的兜底，路径必须与 export_site_env.py 的默认值一致。
HE_DIR="${SITE_HANDEYE_DIR:-${ROOT}/handeye}"
WP="${SITE_HANDEYE_WAYPOINTS:-${HE_DIR}/poses/89_eye_in_hand.yaml}"
CAL="${SITE_HANDEYE_CALIBRATE:-${HE_DIR}/calibrate.yaml}"
TOUR="${SITE_HANDEYE_TOUR:-${HE_DIR}/waypoints.yaml}"
RES="${SITE_HANDEYE_FILE:-${HE_DIR}/results/89_eye_in_hand.yaml}"
WORKDIR="${SITE_HANDEYE_WORKDIR:-/tmp/handeye_calib}"
TAUGHT="${WORKDIR}/taught_poses.txt"
PREFIX="${SITE_JOINT_PREFIX:-Rizon4-063989_}"
CAM="${SITE_CAM_NAME:-d405}"

# ---- --mode：切换 eye-in-hand / eye-to-hand ----
# 必须在 WP/RES 定下来之前处理，因为它会改变读写的文件名。
# 其余参数原样留给子命令（teach 自己有 --rdk/--ros 等）。
HANDEYE_MODE="${SITE_HANDEYE_MODE:-eye_in_hand}"
_rest=()
while [[ $# -gt 0 ]]; do
  case "$1" in
    --mode)
      HANDEYE_MODE="${2:?--mode 需要 eye_in_hand 或 eye_to_hand}"
      if [[ "${HANDEYE_MODE}" != "eye_in_hand" && "${HANDEYE_MODE}" != "eye_to_hand" ]]; then
        echo "ERROR: --mode 只能是 eye_in_hand 或 eye_to_hand，收到 '${HANDEYE_MODE}'" >&2
        exit 1
      fi
      shift 2
      ;;
    *)
      _rest+=("$1")
      shift
      ;;
  esac
done
set -- "${_rest[@]}"

# 臂号取 Flexiv 序列号后两位：Rizon4-063989 → 89
_arm_id="${SITE_ROBOT_SN: -2}"
if [[ -n "${_arm_id}" && "${_arm_id}" != "${SITE_ROBOT_SN}" ]]; then
  if [[ "${HANDEYE_MODE}" != "${SITE_HANDEYE_MODE:-eye_in_hand}" ]]; then
    # 显式指定了非默认模式 → 按 <臂号>_<模式>.yaml 重新定位
    WP="${HE_DIR}/poses/${_arm_id}_${HANDEYE_MODE}.yaml"
    RES="${HE_DIR}/results/${_arm_id}_${HANDEYE_MODE}.yaml"
    echo "[handeye] --mode ${HANDEYE_MODE}  →  poses: ${WP}"
    echo "[handeye]                            result: ${RES}"
  fi
fi

_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:-8}"
  local rows="${SITE_HANDEYE_BOARD_ROWS:-11}"
  local sq="${SITE_HANDEYE_SQUARE_M:-0.015}"
  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="${SITE_HANDEYE_SKIP_UNSTABLE:-true}"
  echo "=== calibrate mode=${HANDEYE_MODE} ==="
  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:="${RES}" \
    -p mode:="${HANDEYE_MODE}" \
    -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
  local points=0
  local auto_solve=false
  while [[ $# -gt 0 ]]; do
    case "$1" in
      --rdk) backend="rdk"; shift ;;
      --ros|--pendant) backend="ros"; shift ;;
      --append|--keep) append=true; shift ;;
      --points) points="${2:?--points 需要一个数字}"; shift 2 ;;
      --auto-solve) auto_solve=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} → ${WORKDIR} ==="
  echo "    窗口按键: d=拖拽开  s=拖拽关  Enter=拍照记点  q=结束"
  if [[ "${points}" -gt 0 ]] 2>/dev/null; then
    echo "    目标 ${points} 个点（采够会有提示，仍可继续多采）"
  else
    echo "    建议 8–12 个姿态，棋盘占画面约 30–70%"
    echo "    （也可用 --points N 设定目标点数）"
  fi
  echo "    结束后: bash ~/ros2/scripts/run_handeye.sh merge"
  echo "            bash ~/ros2/scripts/run_handeye.sh calibrate"
  if [[ "${auto_solve}" == true ]]; then
    echo "    --auto-solve: 采完会自动 merge，并视后端决定是否直接标定"
  fi
  TEACH_ARGS=(
    -p backend:="${backend}"
    -p robot_sn:="${SITE_ROBOT_SN:-Rizon4-063989}"
    -p joint_prefix:="${PREFIX}"
    -p camera_source:="${CAM}"
    -p output_dir:="${WORKDIR}"
    -p target_points:="${points}"
  )
  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:="${SITE_CAM_GAIN:-0}"
  )
  ros2 run arm_application handeye_teach --ros-args "${TEACH_ARGS[@]}" || true

  # ---- 采点结束 ----
  if [[ "${auto_solve}" != true ]]; then
    echo
    echo "采点结束。接着跑（或下次加 --auto-solve 让它自动接）："
    echo "  bash ~/ros2/scripts/run_handeye.sh merge     --arm ${SITE_ROBOT_ARM:-89}"
    echo "  bash ~/ros2/scripts/run_handeye.sh calibrate --arm ${SITE_ROBOT_ARM:-89}"
    return 0
  fi

  echo
  echo "=== --auto-solve: 自动 merge ==="
  if [[ ! -s "${TAUGHT}" ]]; then
    echo "ERROR: 没采到任何点（${TAUGHT} 为空），中止。" >&2
    return 1
  fi
  if ! python3 "${ROOT}/scripts/merge_handeye_poses.py" "${TAUGHT}" "${WP}"; then
    echo "ERROR: merge 失败，点还在 ${TAUGHT}，可手动重跑 merge。" >&2
    return 1
  fi
  echo "    已写入 ${WP}"

  # RDK 软拖拽与控制器互斥：软拖拽要 RDK 独占，标定必须在 run_real.sh 的
  # 控制器上走点位，两者无法同时存在。这是硬件约束，脚本绕不过去，
  # 所以这里如实停下并给出下一步，而不是硬跑一个必然失败的 calibrate。
  if [[ "${backend}" == "rdk" ]]; then
    echo
    echo "⚠️  当前是 RDK 拖拽模式（--rdk），无法自动接着求解。"
    echo "    原因：软拖拽需要 RDK 独占，而标定需要通过 run_real.sh 的控制器走点位，"
    echo "    两者不能同时存在。"
    echo
    echo "    继续两步即可："
    echo "      1) 另开终端: bash ~/ros2/scripts/run_real.sh --arm ${SITE_ROBOT_ARM:-89}"
    echo "      2) 回到这里: bash ~/ros2/scripts/run_handeye.sh calibrate --arm ${SITE_ROBOT_ARM:-89}"
    echo
    echo "    想真正一条命令跑完，请改用示教器 Free Drive 模式："
    echo "      bash ~/ros2/scripts/run_handeye.sh teach --ros --auto-solve"
    return 0
  fi

  # --ros（示教器）后端：控制器本来就在跑，可以无缝接上标定。
  # 但 teach 阶段把相机杀掉了（USB 独占），标定拍照要用，得先拉回来。
  echo
  echo "=== 重启相机（teach 阶段杀掉了它，标定拍照需要）==="
  nohup bash "${ROOT}/scripts/run_camera_d405.sh" --arm "${SITE_ROBOT_ARM:-89}" \
    --no-preview > /tmp/run_handeye_camera.log 2>&1 &
  echo "    pid=$!  log=/tmp/run_handeye_camera.log"
  # _need_camera 内部失败时会自己打印原因并 exit，不需要在这里再判一次。
  _need_camera

  echo
  echo "=== --auto-solve: 自动 calibrate ==="
  cmd_calibrate
}

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