#!/usr/bin/env bash
# Orisys 通止规工位桌面程序（窗口，不是网页）。
#
#   bash ~/ros2/scripts/run_console.sh

set -eo pipefail
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
# shellcheck disable=SC1091
source "${ROOT}/scripts/env.sh"
export PYTHONPATH="${ROOT}/src/arm_application${PYTHONPATH:+:${PYTHONPATH}}"
# 屏幕跟当前登录会话走。这台工控机是 :1，别的 Linux 桌面常常是 :0。
if [[ -n "${DISPLAY:-}" ]]; then
  _disp="${DISPLAY#:}"
  _disp="${_disp%%.*}"
  if [[ ! -S "/tmp/.X11-unix/X${_disp}" ]]; then
    unset DISPLAY
  fi
  unset _disp
fi
if [[ -z "${DISPLAY:-}" ]]; then
  _seat="$(who | awk -v u="$(id -un)" '$1==u && $2 ~ /^:/ {print $2; exit}')"
  _seat="${_seat%%.*}"
  _n="${_seat#:}"
  if [[ -n "${_n}" && -S "/tmp/.X11-unix/X${_n}" ]]; then
    export DISPLAY="${_seat}"
  else
    for _sock in /tmp/.X11-unix/X*; do
      if [[ -S "${_sock}" ]]; then
        export DISPLAY=":${_sock##*/X}"
        break
      fi
    done
  fi
  unset _seat _n _sock
fi
# 有真实屏幕时不要留在 offscreen，否则 OpenGL 窗口起不来，模型也不会画到显卡上。
if [[ "${QT_QPA_PLATFORM:-}" == "offscreen" && -n "${DISPLAY:-}" ]]; then
  _disp="${DISPLAY#:}"
  _disp="${_disp%%.*}"
  if [[ -S "/tmp/.X11-unix/X${_disp}" ]]; then
    unset QT_QPA_PLATFORM
  fi
  unset _disp
fi
if [[ -z "${XAUTHORITY:-}" ]]; then
  if [[ -r "${HOME}/.Xauthority" ]]; then
    export XAUTHORITY="${HOME}/.Xauthority"
  elif [[ -r "/run/user/$(id -u)/gdm/Xauthority" ]]; then
    export XAUTHORITY="/run/user/$(id -u)/gdm/Xauthority"
  fi
fi
exec python3 -m arm_application.operator_app