/**
 * @file handshake.cpp
 * @brief G1 handshake: arm "shake hand"(27) -> Inspire hand grips -> thumbs-up -> release(99).
 *
 *   ./handshake [networkInterface]      (default iface: eth0)
 *
 * Needs ./inspire_g1 running for the fingers. The ARM physically moves —
 * clear space + E-stop ready.
 */
#include "greet_common.hpp"

int main(int argc, char **argv)
{
    const std::string iface = argc > 1 ? argv[1] : "eth0";
    auto arm = greet_init(iface);
    Hand hand;
    usleep(300000); // let DDS match the arm service + inspire_g1

    std::cout << "*** HANDSHAKE (arm + hand). Clear space, E-stop ready. ***" << std::endl;
    runHandshake(*arm, hand);
    std::cout << "done." << std::endl;
    return 0;
}