#!/usr/bin/env bash
# Source this file to activate the project's LeRobot environment.

if [[ "${BASH_SOURCE[0]}" == "$0" ]]; then
  echo "This script must be sourced so it can update the current shell:" >&2
  echo "  source env/activate_lerobot.sh" >&2
  exit 1
fi

LEROBOT_PROJECT_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd)"
LEROBOT_VENV="${ROBOT_WORKDIR:-${HOME}/robot}/.venv-lerobot-0.6.1"

if [[ ! -f "$LEROBOT_VENV/bin/activate" ]]; then
  echo "LeRobot environment not found: $LEROBOT_VENV" >&2
  echo "Install it first with: bash $LEROBOT_PROJECT_DIR/env/setup_lerobot.sh" >&2
  return 1
fi

# shellcheck disable=SC1091
source "$LEROBOT_VENV/bin/activate"

export LEROBOT_PROJECT_DIR
export FOLLOWER_PORT="/dev/serial/by-id/usb-1a86_USB_Single_Serial_5B91044223-if00"
export LEADER_PORT="/dev/serial/by-id/usb-1a86_USB_Single_Serial_5B8E115693-if00"

cd "$LEROBOT_PROJECT_DIR" || return 1

show_lerobot_port() {
  local role="$1"
  local stable_path="$2"
  local current_device

  if [[ -e "$stable_path" ]]; then
    current_device="$(readlink -f -- "$stable_path")"
    echo "$role: $stable_path -> $current_device"
  else
    echo "$role: $stable_path (not connected)"
  fi
}

echo "LeRobot environment activated: $VIRTUAL_ENV"
echo "Project: $LEROBOT_PROJECT_DIR"
show_lerobot_port "Follower" "$FOLLOWER_PORT"
show_lerobot_port "Leader  " "$LEADER_PORT"
unset -f show_lerobot_port