#!/bin/bash
# ============================================================================
#  start_saqr.sh — boot launcher for the Saqr / G1 bridge.
# ============================================================================
#
#  What it does:
#    1. Sources miniconda and activates the target env (default: marcus).
#    2. cd to the project root (parent of this scripts/ dir).
#    3. Execs `python -m saqr.robot.bridge` with the production flags.
#
#  The bridge will:
#    - init the G1 arm + audio + LowState DDS clients
#    - announce "Saqr is running. Press R2 plus X to start." via TtsMaker
#    - sit idle until R2+X is pressed
#
#  Designed to be run by systemd at boot — see saqr-bridge.service.
#  Can also be run manually: scripts/start_saqr.sh
# ============================================================================

set -u

HERE="$(cd "$(dirname "$0")" && pwd)"
SAQR_DIR="${SAQR_DIR:-$(cd "$HERE/.." && pwd)}"

CONDA_ROOT="${CONDA_ROOT:-$HOME/miniconda3}"
CONDA_ENV="${CONDA_ENV:-marcus}"
DDS_IFACE="${DDS_IFACE:-eth0}"
SAQR_SOURCE="${SAQR_SOURCE:-realsense}"
STREAM_PORT="${STREAM_PORT:-8080}"

if [ ! -d "$SAQR_DIR" ]; then
    echo "[start_saqr] FATAL: SAQR_DIR not found: $SAQR_DIR" >&2
    exit 1
fi

if [ ! -d "$SAQR_DIR/saqr" ]; then
    echo "[start_saqr] FATAL: saqr/ package not found in $SAQR_DIR" >&2
    exit 1
fi

if [ ! -f "$CONDA_ROOT/etc/profile.d/conda.sh" ]; then
    echo "[start_saqr] FATAL: conda not found at $CONDA_ROOT" >&2
    exit 1
fi

# shellcheck disable=SC1091
source "$CONDA_ROOT/etc/profile.d/conda.sh"
conda activate "$CONDA_ENV" || {
    echo "[start_saqr] FATAL: failed to activate conda env: $CONDA_ENV" >&2
    exit 1
}

cd "$SAQR_DIR" || {
    echo "[start_saqr] FATAL: cd $SAQR_DIR failed" >&2
    exit 1
}

echo "[start_saqr] env=$CONDA_ENV cwd=$PWD iface=$DDS_IFACE source=$SAQR_SOURCE stream=$STREAM_PORT"
echo "[start_saqr] launching bridge..."

exec python3 -m saqr.robot.bridge \
    --iface "$DDS_IFACE" \
    --source "$SAQR_SOURCE" \
    --headless \
    -- --stream "$STREAM_PORT"