ros_bashrc

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# Start of Neuron Startup Menu Settings #
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# clear ROS env var for resolving warning #
unset ros_option
unset ROS_DISTRO
unset ROS_HOSTNAME

shell=`echo $SHELL | awk -F '/' '{print $NF}'`
ros_menu_path="${HOME}/.ros_menu"
plugins_path="${ros_menu_path}/plugins_bashrc"

function source_plugin()
{
    plugin=$1
    if [[ "$plugin" != /* ]]; then
        plugin="$plugins_path/$plugin"
    fi
    if [ -f $(echo $plugin | cut -d' ' -f 1) ]; then
        echo "source $plugin ${@:2}"
        eval "source $plugin ${@:2}"
    else
        echo "Error! No such file: $plugin"
    fi
}

function ros_menu_version()
{
    menu_tag=`git -C ${ros_menu_path} tag -l --contains HEAD`
    menu_commit=`git -C ${ros_menu_path} rev-parse HEAD`
    echo "$menu_tag $menu_commit"
}

function ros_menu_upgrade()
{
    echo -n "Current version: "
    ros_menu_version
    git -C ${ros_menu_path} fetch > /dev/null
    git -C ${ros_menu_path} checkout $1 > /dev/null
    echo -n "Updated version: "
    ros_menu_version
}

function ros_menu_uninstall()
{
    echo -n "Do you want to remove Neuron Startup Menu? (y/N): "
    read remove_menu
    if [ "$remove_menu" '==' "y" ] || [ "$remove_menu" '==' "Y" ];
    then
        rm -rf ~/ros_menu ~/.ros_menu
    fi
}

function ros_menu_env()
{
    if [[ $ROS_VERSION == "1" ]]; then
        echo "* ROS_DISTRO=$ROS_DISTRO"
        echo "* ROS_IP=$ROS_IP"
        echo "* ROS_MASTER_URI=$ROS_MASTER_URI"
    else
        echo "* ROS_DISTRO=$ROS_DISTRO"
        echo "* ROS_DOMAIN_ID=$ROS_DOMAIN_ID"
        echo "* RMW_IMPLEMENTATION=$RMW_IMPLEMENTATION"
        echo "* CYCLONEDDS_URI=$CYCLONEDDS_URI"
        echo "* Workspace Layer:"
        echo "  - $AMENT_PREFIX_PATH" | sed 's/:/\n  - /g'
    fi
}

function ros_menu_disable()
{
    sed -i '/menu_enable/s/true/false/g' ~/ros_menu/config.yaml
    echo "To enable ros_menu please use ro_menu_enable"
}

function ros_menu_enable()
{
    sed -i '/menu_enable/s/false/true/g' ~/ros_menu/config.yaml
}

function ros_menu_clean_docker()
{
    if [ ! -f ./dockerenv ]; then
        container_id=$(docker ps --filter="name=rosmenu*" -q)
        if [[ $container_id ]]; then
            echo "Remove the rosmenu container..."
            docker rm -f $container_id
        fi
        image_id=$(docker images --filter=reference="adlinkrmt/rosmenu*" -q)
        if [[ $image_id ]]; then
            echo "Remove the rosmenu image..."
            docker rmi $image_id
        fi
        echo "The rosmenu container and image have already been removed successfully."
    else
        echo "The command is only available in host, not in container."
    fi
}

function ros_menu_help()
{
    echo -e "To load ROS env to be automatically, please assign ros_option in ros_menu/config.yaml"
    echo "Usage: (Run the following function in the command line.)"
    echo -e "\tros_menu_help              -> usage details"
    echo -e "\tros_menu_version           -> show the version of ros_menu you are using"
    echo -e "\tros_menu_upgrade [version] -> upgrade the ros_menu"
    echo -e "\tros_menu_uninstall         -> uninstall the ros_menu"
    echo -e "\tros_menu_env               -> show the environment details of ROS"
    echo -e "\tros_menu_disable           -> disable the ros_menu"
    echo -e "\tros_menu_enable            -> enable the ros_menu"
    echo -e "\tros_menu_clean_docker      -> remove image and container"
    echo "For more using details please refer to file ros_menu/README.md."
}

if [ ! -f /.dockerenv ]; then
    rm -rf /tmp/host_sourcefile.txt
    python3 ~/ros_menu/ros_menu.py ~/ros_menu/config.yaml
    if [ -f /tmp/host_sourcefile.txt ]; then
        source /tmp/host_sourcefile.txt
    fi
else
    # Each docker container should has the following file
    if [ -f /container_sourcefile_$ROS_OPTION.txt ]; then
        source /container_sourcefile_$ROS_OPTION.txt
    fi
fi

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# END of Neuron Startup Menu Settings #
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