.bashrc_mt

#!/usr/bin/bash

# TODO fix these colors, they pollute all sorts of stuff
# source "$HOME/.scripts/log.bash"

workspace="${HOME}/workspace"
mtr_bash_utils="${workspace}/bash/mtr_utils.bash"

if [[ -f ${mtr_bash_utils} ]]; then
  # shellcheck source=/home/beat/workspace/bash/mtr_utils.bash
  . "${mtr_bash_utils}"
fi

#aliases
if [[ -f "${HOME}/.aliases_mt" ]]; then
  source "${HOME}/.aliases_mt"
fi

# Helper function to change to git dir
ccd() {
  cd "$workspace/mtrsys/${1:-develop}/" || return 1
}

cducc() {
  cd "$workspace/ucc/${1:-development}" || return 1
}

cdclient() {
  cd "$workspace/ucc/${1-development}/src/MTRobot.UCC/src/MTRobot.UCC.Presentation.Web/ucc-client" || exit
}

# Helper function to change to a particular build directory
cdbuild() {
  ccd "$1" && cd build || return 1
}

# Helper function to change to a particular source directory
cdsrc() {
  if [[ -z "$1" ]];then
    cd "$HOME/src"
  else
    ccd "$1" && cd src || return 1
  fi
}

# submodule navigation helper
cds() {
  cd "$1" || return 1
}
_cds() {
  COMPREPLY=()
  cur=${COMP_WORDS[$COMP_CWORD]}
  declare -a submdodules
  submodules="$(git submodule 2>/dev/null | awk '{print $2}' | grep "^$cur" || echo '')"
  COMPREPLY=($(compgen -W '$submodules' -- ''))
}
complete -F _cds cds

sourceros() {
  echo "sourcing ros"
  source /opt/ros/melodic/setup.bash
  #echo "setting ROS_MASTER_URI=http:10.0.52.114:11311/"
  #export ROS_MASTER_URI=http://10.0.52.114:11311/
  #export ROS_IP=10.0.20.244
  export TURTLEBOT3_MODEL=burger

  if [[ -f "$HOME/workspace/ros_ws/devel/setup.bash" ]]; then
    echo "sourcing ros_ws"
    source "$HOME/workspace/ros_ws/devel/setup.bash"
  fi

  alias tf='cd /var/tmp && rosrun tf view_frames && evince frames.pdf &'
}

# source ros automatically if present
if [[ -f "/opt/ros/melodic/setup.bash" ]]; then
  sourceros
fi

sourcerti6() {
  echo "sourcing rti_connext_dds-6.1.0"
  source "/opt/rti_connext_dds-6.1.0/resource/scripts/rtisetenv_x64Linux4gcc7.3.0.bash"
}

sourcerti7() {
  echo "sourcing rti_connext_dds-7.0.0"
  source "/opt/rti_connext_dds-7.0.0/resource/scripts/rtisetenv_x64Linux4gcc7.3.0.bash"
}

#
#  ccache
if [[ "${SCHROOT_CHROOT_NAME-}" == "ub22" ]]; then
  export PATH=/usr/lib/ccache:$PATH
  export CC="ccache clang-17"
  export CXX="ccache clang++-17"
  export CCACHE_DIR="${HOME}/.ccache_ub22"
  export CCACHE_SLOPPINESS="pch_defines,time_macros,include_file_ctime,include_file_mtime"
fi

__make() {
  filename="/tmp/nvim_quickfix.log"
  cd build && schroot -c chroot:mt_ubuntu18 -- make "$@" |& tee "$filename"
}

# add RTI tools to path if present
if [[ -d "/opt/rti_connext_dds-7.0.0/bin" ]]; then
  export PATH="/opt/rti_connext_dds-7.0.0/bin:$PATH"
elif [[ -d "/opt/rti_connext_dds-6.1.0/bin" ]]; then
  export PATH="/opt/rti_connext_dds-6.1.0/bin:$PATH"
fi

cleanws() {
  if [[ -d "build" && -d "install" && -d "log" ]]; then
    rm -rf build install log
  fi
}

sshr() {
  ssh -X "mtr@robot-$1.mt"
}

sshm() {
  ssh "mtr@ms-$1.mt"
}

mt-rti-spy() {
  mt-spy -topicRegex "$1" -printSample
}

####################
# UCC functionality
####################
cleanbuild() {
  dotnet nuget locals all -c # when nuget package changed with the same version, generally unneeded
  dotnet restore
  dotnet clean # generally unneeded
  dotnet build
}

vncpi() {
  ssh -t -f -L 5900:localhost:5900 "pi2" "x11vnc -auth guess -localhost -display :0" &> /dev/null
  sleep 2
  vncviewer localhost:5900
}

export SIMULATION_CONFIG="$HOME/sim_config.xml"