#!/usr/bin/env bash
set -euo pipefail
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
export PYTHONDONTWRITEBYTECODE=1

control_paused=false
wait_for_smart_cam() {
    local deadline=$((SECONDS + 180))
    local stable_checks=0
    while (( SECONDS < deadline )); do
        if docker inspect -f '{{.State.Running}}' smart-cam 2>/dev/null | grep -qx true \
           && docker exec smart-cam curl -fsS --max-time 5 -o /dev/null \
                http://127.0.0.1:18080/health 2>/dev/null; then
            stable_checks=$((stable_checks + 1))
            if (( stable_checks >= 8 )); then
                return 0
            fi
        else
            stable_checks=0
        fi
        sleep 2
    done
    return 1
}

resume_control() {
    local exit_code=$?
    trap - EXIT
    if [[ "$control_paused" == true ]]; then
        printf '\n正在恢复smart-cam巡航和自动追踪……\n'
        if ! wait_for_smart_cam \
           || ! docker exec smart-cam smart-camctl control resume; then
            printf '错误：标定已结束，但自动恢复失败。请立即手动执行：\n' >&2
            printf '  docker exec smart-cam smart-camctl control resume\n' >&2
            exit_code=1
        fi
    fi
    exit "$exit_code"
}
trap resume_control EXIT

printf '正在暂停smart-cam的扫图、巡航和自动追踪，准备独占云台……\n'
if ! docker exec smart-cam smart-camctl control pause; then
    printf '错误：无法暂停smart-cam自动控制，本次不启动标定。\n' >&2
    exit 1
fi
control_paused=true

python3 "$SCRIPT_DIR/interactive_calibrator.py"