#!/bin/bash

CMD=0
DUTY=0

if [ $# -eq 0 ]; then
    echo "错误：缺少参数"
    echo "用法: $0 <on|off> [其他参数...]"
    exit 1
fi



SYS_SRV="ros-humble-stardust-bottom-interact-center"
systemctl is-active $SYS_SRV
if [ $? -ne 0 ]; then
    echo -e "\033[31m$SYS_SRV 未运行，请先启动服务。\033[0m"
    exit -1
fi

case "$1" in
    on)
        CMD=1
        DUTY=100
        ;;
    off)
        CMD=0
        DUTY=0
        ;;
    *)
        echo -e "\033[31m参数错误,输入参数 on 或 off。\033[0m"
        exit -1
        ;;
esac

ros2 service call /bottom_operate stardust_protocol/srv/BottomInteractSrv "{cmd: 13, procter: {water_supply: {hand_pump: {cmd: $CMD, duty: $DUTY}}}}" 

# green
echo -e "\033[32mdone\033[0m"%                 