#!/usr/bin/env bash
# 通过 RDK 切换 / 列出 Flexiv Studio 工具（工具名从 site.yaml 读取）。
#
#   bash ~/ros2/scripts/rdk_switch_tool.sh            # 切换到 robot.tool_name
#   bash ~/ros2/scripts/rdk_switch_tool.sh --list     # 打印 Studio 工具池
#   bash ~/ros2/scripts/rdk_switch_tool.sh --name Flange
#
# 先停掉 `run_real.sh` —— RDK 只允许一个客户端。

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

# shellcheck disable=SC1091
source "${ROOT}/scripts/lib/dev_tools.sh"
RDK_PYTHON="$(dev_rdk_python)"
SN="${ROBOT_SN:-${SITE_ROBOT_SN:-}}"
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[@]}"