#!/bin/bash
# 部署+执行测试 (在树莓派上, 源IP=192.168.123.161)
#
# 用法:
#   bash tools/onboard/run_on_pi.sh sin       # 单腿正弦
#   bash tools/onboard/run_on_pi.sh damping   # 零力矩连通性
#   bash tools/onboard/run_on_pi.sh deploy    # 仅部署不执行
set -e

PI_HOST="${PI_HOST:-192.168.123.161}"
PI_USER="${PI_USER:-pi}"
TEST="${1:-sin}"
REMOTE_DIR=/tmp/dog_test

echo "=== 部署到 ${PI_USER}@${PI_HOST}:${REMOTE_DIR} ==="

# 1. 创建远程目录结构
ssh ${PI_USER}@${PI_HOST} "rm -rf ${REMOTE_DIR} && mkdir -p ${REMOTE_DIR}/ucl"

# 2. 拷贝文件 (所有.py平铺在REMOTE_DIR, ucl/子目录放SDK文件)
echo "[1/2] 拷贝文件..."
scp tools/onboard/blowfish_codec.py \
    tools/onboard/build_pro_lowcmd.py \
    tools/onboard/test_sin_leg.py \
    tools/onboard/test_lowcmd.py \
    tools/onboard/example_position_pro.py \
    data/lowlevel_captures/blowfish_state.bin \
    ${PI_USER}@${PI_HOST}:${REMOTE_DIR}/

# 空 __init__.py 让 ucl 成为 package
ssh ${PI_USER}@${PI_HOST} "touch ${REMOTE_DIR}/ucl/__init__.py"
scp ucl/lowCmd.py ucl/lowState.py ucl/common.py ucl/complex.py ucl/enums.py \
    ${PI_USER}@${PI_HOST}:${REMOTE_DIR}/ucl/

# 提前杀掉 MCU:8007 的所有抢占者:
#   1. keep_sport_alive.sh - Legged_sport 看门狗 (每0.2秒重启Legged_sport, 必须先杀)
#   2. Legged_sport - 主控制循环
#   3. appTransit - 也跟 MCU:8007 通信
echo ""
echo "=== 停止 MCU:8007 抢占源 (顺序: 看门狗 → Legged_sport → appTransit) ==="
ssh ${PI_USER}@${PI_HOST} bash <<'EOF' || true
set +e
if sudo pkill -9 -f keep_sport_alive 2>/dev/null; then
    echo '  ✅ keep_sport_alive.sh (看门狗)'
else
    echo '  (无看门狗)'
fi
sleep 0.3
if sudo pkill -9 -f Legged_sport 2>/dev/null; then
    echo '  ✅ Legged_sport'
else
    echo '  (无)'
fi
if sudo pkill -9 -f appTransit 2>/dev/null; then
    echo '  ✅ appTransit'
else
    echo '  (无)'
fi
sleep 0.5
echo '--- 验证残留: ---'
if pgrep -fl 'Legged_sport|appTransit|keep_sport_alive' 2>/dev/null; then
    echo '  ⚠️  仍有残留, 可能看门狗在别处'
else
    echo '  ✅ 全部清除'
fi
EOF
sleep 1

echo ""
echo "[2/2] 执行测试..."

case "$TEST" in
    sin)
        echo "=== 单腿正弦测试 (Pi端) ==="
        ssh -t ${PI_USER}@${PI_HOST} \
            "cd ${REMOTE_DIR} && python3 test_sin_leg.py --amplitude 0.3 --freq 0.5 --duration 10"
        ;;
    damping)
        echo "=== 零力矩连通性测试 (Pi端) ==="
        ssh -t ${PI_USER}@${PI_HOST} \
            "cd ${REMOTE_DIR} && python3 test_lowcmd.py --skip-stop --skip-mqtt"
        ;;
    example)
        echo "=== example_position(lowlevel) PRO 版本 (Pi端) ==="
        ssh -t ${PI_USER}@${PI_HOST} \
            "cd ${REMOTE_DIR} && python3 example_position_pro.py --max-steps 5000"
        ;;
    deploy)
        echo "✅ 已部署到 ${PI_USER}@${PI_HOST}:${REMOTE_DIR}"
        echo "   ssh ${PI_USER}@${PI_HOST}"
        echo "   cd ${REMOTE_DIR} && python3 test_sin_leg.py ..."
        ;;
    *)
        echo "用法: bash run_on_pi.sh [sin|damping|example|deploy]"
        exit 1
        ;;
esac

echo ""
echo "============================================"
echo "恢复 sportMode:"
echo "  bash tools/onboard/stop_sportmode.sh start"
echo "  或 ssh ${PI_USER}@${PI_HOST} sudo systemctl start sportMode"
echo "============================================"