#!/bin/bash
# 停止/启动 sportMode 服务 (从Mac SSH到狗执行)
# 用法:
#   bash tools/onboard/stop_sportmode.sh stop     # 停止sportMode,进入低层控制
#   bash tools/onboard/stop_sportmode.sh start    # 重新启动sportMode
#   bash tools/onboard/stop_sportmode.sh status   # 检查状态

set -e

PI_HOST="${PI_HOST:-192.168.123.161}"
PI_USER="${PI_USER:-pi}"

# 等待用户按键继续的 pause 函数
pause() {
    echo ""
    read -p "按 Enter 继续..." dummy
}

cmd="${1:-status}"

case "$cmd" in
    stop)
        echo "============================================"
        echo "⚠️  停止 sportMode — 进入低层控制"
        echo "============================================"
        echo ""
        echo "这将会:"
        echo "  1. 先发 damping 让电机失能"
        echo "  2. 停止 Legged_sport 进程"
        echo "  3. 停止后, :8007 将只接受你的 LowCmd"
        echo ""
        echo "⚠️  停止后狗会软瘫, 确保:"
        echo "  - 狗趴在地上或脚架上"
        echo "  - 遥控器在手边 (L2+B 紧急停止)"
        echo "  - 10分钟内必须重启 (安全看门狗)"
        echo ""
        read -p "确认停止? (yes/no): " confirm
        if [ "$confirm" != "yes" ]; then
            echo "取消"
            exit 0
        fi

        echo ""
        echo "[1/3] 发送 damping ..."
        ssh ${PI_USER}@${PI_HOST} \
            "mosquitto_pub -h localhost -t controller/action -m damping" 2>/dev/null || \
            echo "  (MQTT可能不可用, 继续...)"

        sleep 2

        echo "[2/3] 停止 Legged_sport 看门狗 + Legged_sport + appTransit ..."
        # 必须按顺序: 先杀看门狗 keep_sport_alive.sh, 否则它每 0.2s 重拉 Legged_sport
        # 同时杀 appTransit, 它也跟 MCU:8007 通信抢占
        ssh ${PI_USER}@${PI_HOST} \
            "sudo pkill -9 -f keep_sport_alive 2>/dev/null && echo '  ✅ keep_sport_alive (看门狗)' || echo '  (无看门狗)';
             sudo pkill -9 -f Legged_sport 2>/dev/null && echo '  ✅ Legged_sport' || echo '  (无)';
             sudo pkill -9 -f appTransit 2>/dev/null && echo '  ✅ appTransit' || echo '  (无)';
             sudo systemctl stop sportMode 2>/dev/null || true"

        sleep 1

        echo "[3/3] 验证..."
        if ssh ${PI_USER}@${PI_HOST} "! pgrep Legged_sport > /dev/null 2>&1"; then
            echo "  ✅ Legged_sport 已完全停止"
        elif ssh ${PI_USER}@${PI_HOST} "pgrep Legged_sport > /dev/null 2>&1"; then
            echo "  ⚠️  Legged_sport 可能仍在运行(被STOP暂停)"
        fi

        echo ""
        echo "============================================"
        echo "✅ sportMode 已停止, 现在可以做低层控制测试"
        echo ""
        echo "恢复: bash tools/onboard/stop_sportmode.sh start"
        echo "============================================"
        ;;

    start)
        echo "============================================"
        echo "🔄 恢复 sportMode"
        echo "============================================"
        echo ""

        echo "[1/2] 恢复 Legged_sport ..."
        ssh ${PI_USER}@${PI_HOST} \
            "sudo systemctl restart sportMode 2>/dev/null || sudo systemctl restart legged_sport 2>/dev/null || (sudo killall -CONT Legged_sport 2>/dev/null) || echo '尝试手动启动'" && \
            echo "  ✅ 重启命令已执行" || \
            echo "  ⚠️  重启失败, 尝试: sudo systemctl start sportMode 或重启狗"

        sleep 3

        echo "[2/2] 验证..."
        if ssh ${PI_USER}@${PI_HOST} "pgrep Legged_sport > /dev/null 2>&1"; then
            echo "  ✅ Legged_sport 已恢复运行"
        else
            echo "  ⚠️  Legged_sport 未运行, 可能需要重启狗"
        fi

        echo ""
        echo "✅ sportMode 已恢复"
        ;;

    status)
        echo "检查 sportMode 状态..."
        echo ""
        echo "--- Legged_sport 进程 ---"
        ssh ${PI_USER}@${PI_HOST} "ps aux | grep -v grep | grep Legged_sport || echo '  未运行'"
        echo ""
        echo "--- systemd 服务 ---"
        ssh ${PI_USER}@${PI_HOST} \
            "systemctl status sportMode 2>/dev/null || systemctl status Legged_sport 2>/dev/null || echo '  服务名未知'" 2>/dev/null | head -10
        echo ""
        echo "--- MQTT 状态 ---"
        ssh ${PI_USER}@${PI_HOST} \
            "mosquitto_sub -h localhost -t programming/action -C 1 -W 2 2>/dev/null || echo '  (无消息/timeout)'"
        ;;

    *)
        echo "用法: bash stop_sportmode.sh [stop|start|status]"
        exit 1
        ;;
esac