#!/usr/bin/env bash
# scripts/launch.sh —— 跑 demo launch(可限时自动关停)
#
# 用法:
#   # 一直跑(前台,Ctrl+C 停)
#   docker exec -it ros2_dev bash /root/ros2_ws/scripts/launch.sh pubsub_launch
#
#   # 跑 N 秒后自动停(脚本、CI、截图用)
#   docker exec ros2_dev bash /root/ros2_ws/scripts/launch.sh pubsub_launch 10
#
# 第一个参数:launch 文件名(不带 .py),默认 pubsub_launch
# 第二个参数:运行时长(秒),默认 0 = 不限时
set -eo pipefail

WORKSPACE="${WORKSPACE:-/root/ros2_ws}"
NAME="${1:-pubsub_launch}"
RUNTIME="${2:-0}"

source /opt/ros/humble/setup.bash
source "${WORKSPACE}/install/setup.bash"

cd "${WORKSPACE}"

# RUNTIME 合法化:非整数 / 空 / "forever" → -1(一直跑)
if ! [[ "${RUNTIME}" =~ ^-?[0-9]+$ ]]; then
  RUNTIME="-1"
fi

echo "[launch.sh] starting: ros2 launch bringup ${NAME}.py  (runtime=${RUNTIME}s; -1 = forever)"

if [ "${RUNTIME}" -ge 0 ]; then
  # 后台跑 + 给定时炸弹
  ros2 launch bringup "${NAME}.py" &
  LAUNCH_PID=$!
  if [ "${RUNTIME}" -gt 0 ]; then
    sleep "${RUNTIME}"
    echo "[launch.sh] reaching runtime limit, killing..."
    kill -INT "${LAUNCH_PID}" 2>/dev/null || true
    pkill -f "ros2 launch bringup ${NAME}" 2>/dev/null || true
    wait "${LAUNCH_PID}" 2>/dev/null || true
  else
    # 0 = 等用户 Ctrl+C
    wait "${LAUNCH_PID}" 2>/dev/null || true
  fi
else
  # -1 = forever(后台跑,主进程立刻返回)
  nohup ros2 launch bringup "${NAME}.py" >/dev/null 2>&1 &
  disown
  echo "[launch.sh] ✅ launched in background (forever mode, pid=$!)"
fi

echo "[launch.sh] ✅ exit"