.zshrc_mt

#!/usr/bin/zsh

autoload -U colors && colors

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

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

cdmtrsys() {
  cd "${HOME}/workspace/mtrsys-core.git/${1:-develop}"
}

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

# Helper function to change to a particular source directory
cdsrc() {
  ccd $1 && cd src
}

function sourceros(){
  echo -n "$fg[cyan]"
  echo "sourcing ros"
  source /opt/ros/melodic/setup.zsh
  #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 "$HOME/workspace/ros_ws/devel/setup.zsh" ]]; then
    echo "sourcing ros_ws"
    source "$HOME/workspace/ros_ws/devel/setup.zsh"
  fi

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

  echo -n "$reset_color"
}

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

function sourceros2(){
  export MT_ROS_VERSION=galactic

  echo -n "$fg[cyan]"
  echo "sourcing ros2: ${MT_ROS_VERSION}"
  source "/opt/ros/${MT_ROS_VERSION}/setup.zsh"
  source "${HOME}/workspace/ros2_connextdds/install/setup.zsh"

  export UNITR_MODEL="a1"
  export ROS_DOMAIN_ID=1

  if [[ -f "$HOME/src/ros2_ws/install/setup.zsh" ]]; then
    echo "sourcing ros2_ws"
    source $HOME/src/ros2_ws/install/setup.zsh
  fi

  if [[ -f "$HOME/src/ros2_connextdds/install/setup.zsh" ]]; then
    echo "sourcing ros2_connextdds"
    source "$HOME/src/ros2_connextdds/install/setup.zsh"
    echo "setting RMW_IMPLEMENTATION=rmw_connextdds"
    export RMW_IMPLEMENTATION=rmw_connextdds
  else
    echo "WARNING: rmw_connextdds is not available. Make sure to build it!"
  fi

  echo -n "$reset_color"
}

function sourcerti(){
  source "/opt/rti_connext_dds-6.1.0/resource/scripts/rtisetenv_x64Linux4gcc7.3.0.zsh"
}

if [[ -f "/opt/ros/galactic/setup.zsh" ]]; then
 sourceros2
fi

#
#  ccache
if [[ -n "$SCHROOT_GID" ]];then
  export PATH=/usr/lib/ccache:$PATH
  export CC="ccache gcc"
  export CXX="ccache g++"
  export CCACHE_BASEDIR="/home/beat/workspace/mtr_sys"
  export DISPLAY=:0
fi

#
# distcc
#export CCACHE_PREFIX="distcc"

#
# Aliases
alias ubuntu20='schroot -c mt_ubuntu20'
alias ubuntu18='schroot -c mt_ubuntu18'
alias debian='schroot -c mt_jessie'
alias make='export CCACHE_BASEDIR=$(pwd); echo "Set CCACHE_BASEDIR ${CCACHE_BASEDIR} -- Building with -j16"; make -j16'
alias sourcews='source ./install/setup.zsh'

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

# navigation aliases
alias cdws='cd $HOME/workspace'
alias cdros='cdws && cd ros2_ws'
alias cdmtr='cdws && cd mtr_sys'

# add rti tools to path if present
if [[ -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
}

sshv ()
{
    declare -r arg="$1";
    local disp="0";
    [[ -z "$arg" ]] && echo "usage: mssh <host>" && return 1;
    local server="${arg}";
    [[ ! -z "${2-}" ]] && disp="$2";
    ssh -t -f -L 5900:localhost:5900 "mtr@$server" "x11vnc -auth guess -localhost -display :$disp" &> /dev/null;
    sleep 2;
    vncviewer localhost:5900
}

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
}

nugetPushIDLStorageV ()
{
    if [[ -z "${1-}" ]]; then
        echo "usage: nugetPushIDLStorageV: <version>" 1>&2;
        return 1;
    fi;
    nuget push "MTRobot.UCC.Data.IDLStorage*$1*.nupkg" -Source http://ms-build.mt/nuget -apiKey '5a742973-dd02-464c-9da0-52ded9e74a8b'
}

nugetList() {
  nuget list IDLStorage -source http://ms-build.mt/nuget -AllVersions -PreRelease
}

nugetDelete() {
  nuget delete MTRobot.UCC.Data.IDLStorage $1 -Source "C:\NugetRepository"
}
############
# Simulation
############
rungazebo()
{
  xhost +local:;
  schroot -c mt_ubuntu20 /usr/bin/zsh -- -ic ' \
   export QT_AUTO_SCREEN_SCALE_FACTOR=1 && \
   sourceros2 && \
    ros2 launch unitr_ignition unitr_world.launch.py world:="showroom_1unitr.sdf -v 4"'
}