#!/bin/bash
# Standalone RealSense start (used by `agenticros start realsense`).
# Usage: ./scripts/start_realsense.sh [jazzy|humble] [--pointcloud] [--full] [--model=D421]
#
# Default: teleop profiles (low res/FPS for WebRTC), matching robotics-npm.
# --full: stock rs_launch.py defaults (higher bandwidth).

set -e

ROS_DISTRO="${1:-jazzy}"
shift || true

EXTRA_ARGS=()
for arg in "$@"; do
  case "$arg" in
    --pointcloud|-p) EXTRA_ARGS+=("pointcloud") ;;
    --full) EXTRA_ARGS+=("full") ;;
    --model=*) EXTRA_ARGS+=("model=${arg#--model=}") ;;
    model=*) EXTRA_ARGS+=("$arg") ;;
  esac
done

REPO_ROOT=$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)
CAMERA_LOG=/tmp/agenticros-camera.log
CAMERA_PID_FILE=/tmp/agenticros-camera.pid

# shellcheck source=lib/realsense.sh
source "$REPO_ROOT/scripts/lib/realsense.sh"

if [[ -f "/opt/ros/$ROS_DISTRO/setup.bash" ]]; then
  # shellcheck disable=SC1090
  source "/opt/ros/$ROS_DISTRO/setup.bash"
fi
if [[ -f "$REPO_ROOT/ros2_ws/install/setup.bash" ]]; then
  # shellcheck disable=SC1090
  source "$REPO_ROOT/ros2_ws/install/setup.bash"
fi

start_realsense_camera "${EXTRA_ARGS[@]}"