"""Pull xr_teleoperate changes from Gitea on the robot."""
import paramiko, sys
sys.stdout.reconfigure(encoding='utf-8', errors='replace')
ssh = paramiko.SSHClient()
ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
ssh.connect('10.0.0.64', username='unitree', password='123',
            timeout=15, look_for_keys=False, allow_agent=False)

# Check current remotes - origin already points to gitea
print('=== Current remotes ===')
_, o, _ = ssh.exec_command('cd ~/xr_teleoperate && git remote -v', timeout=10)
print(o.read().decode().strip())

# Check for local changes
print('\n=== Git status ===')
_, o, _ = ssh.exec_command('cd ~/xr_teleoperate && git status --short', timeout=10)
status = o.read().decode().strip()
print(status if status else '(clean)')

# Pull from origin (which is already gitea)
print('\n=== Pulling from origin main ===')
_, o, e = ssh.exec_command('cd ~/xr_teleoperate && git pull origin main', timeout=30)
pull_out = o.read().decode().strip()
pull_err = e.read().decode().strip()
print(pull_out)
if pull_err:
    print(pull_err)

# Verify the changes are present
print('\n=== Verifying compute_fk exists ===')
_, o, _ = ssh.exec_command('grep -n "def compute_fk" ~/xr_teleoperate/teleop/robot_control/robot_arm_ik.py', timeout=5)
print(o.read().decode().strip() or 'NOT FOUND')

print('\n=== Verifying --ki arg exists ===')
_, o, _ = ssh.exec_command('grep -n "\\-\\-ki" ~/xr_teleoperate/teleop/teleop_hand_and_arm.py', timeout=5)
print(o.read().decode().strip() or 'NOT FOUND')

print('\n=== Verifying I-term logic exists ===')
_, o, _ = ssh.exec_command('grep -n "I-term" ~/xr_teleoperate/teleop/teleop_hand_and_arm.py', timeout=5)
print(o.read().decode().strip() or 'NOT FOUND')

print('\n=== Latest commit ===')
_, o, _ = ssh.exec_command('cd ~/xr_teleoperate && git log --oneline -3', timeout=5)
print(o.read().decode().strip())

ssh.close()
print('\nDone!')