.ros_config

# ROS Settings
if [ -d /opt/ros/melodic ]; then
  melodic-setup() {
    source /opt/ros/melodic/setup.bash
  }
fi
if [ -d /opt/ros/noetic ]; then
  noetic-setup() {
    source /opt/ros/noetic/setup.bash
  }
fi

# ROS2 Settings
if [ -d /opt/ros/dashing ]; then
  dashing-setup() {
    source /opt/ros/dashing/setup.bash
  }
fi
if [ -d /opt/ros/foxy ]; then
  foxy-setup() {
    source /opt/ros/foxy/setup.bash
  }
fi
if [ -d /opt/ros/humble ]; then
  humble-setup() {
    source /opt/ros/humble/setup.bash
  }
fi

# Change ROS_DOMAIN_ID
change_domain-id() {
  export ROS_DOMAIN_ID=$1
}

# Shigure Settings
shigure() {
  case $1 in
    "bg_subtraction" | "subtraction_analysis" | "object_detection" | "object_tracking" | "people_tracking" | "contact_detection" | "record_event")
      echo "start $1";
      . ~/ros2_ws/install/setup.bash &&
      ros2 run shigure_core $1 --ros-args --params-file ~/ros2_ws/src/shigure_core/shigure_core/shigure_core/nodes/params/$1_params.yml;;
    "pose_save")
      echo "start $1";
      . ~/ros2_ws/install/setup.bash &&
      ros2 run shigure_core $1;;
    "pose_start")
      echo "send start -> pose_save_node";
      ros2 topic pub --once /HL2/pose_record_signal std_msgs/msg/String "data: Start";;
    "pose_end")
      echo "send end -> pose_save_node";
      ros2 topic pub --once /HL2/pose_record_signal std_msgs/msg/String "data: End";;
    "record")
      echo "start record node";
      gnome-terminal --tab -t 'record_event' -- bash -c ". /opt/ros/foxy/setup.bash; . ~/ros2_ws/install/setup.bash; ros2 run shigure_core record_event --ros-args --params-file ~/ros2_ws/src/shigure_core/shigure_core/shigure_core/nodes/params/record_event_params.yml; endyarnstart() { exec bash; }; trap endyarnstart INT; yarn start;" &&
      gnome-terminal --tab -t 'pose_save' -- bash -c ". /opt/ros/foxy/setup.bash; . ~/ros2_ws/install/setup.bash; ros2 run shigure_core pose_save; endyarnstart() { exec bash; }; trap endyarnstart INT; yarn start;";;
    "service")
      echo "start shigure $1s";
      source ~/ros2_ws/install/setup.bash &&
      ros2 launch shigure_event_playback_ros2 shigure_event_playback_launch.py &&
      ros2 launch associated_event_info associated_event_info_launch.py;;
    "launch")
      . ~/ros2_ws/install/setup.bash &&
      ros2 launch shigure_core shigure_core_launch.py;;
    *)
      echo "undefined $1 node";;
  esac
}
shigure_node() {
  local cur prev opts
  _get_comp_words_by_ref -n : cur prev
  opts="
    bg_subtraction 
    subtraction_analysis 
    object_detection 
    object_tracking 
    people_tracking 
    contact_detection 
    record_event 
    pose_save
    pose_start
    pose_end
    record
    service
    launch
  "

  COMPREPLY=( $(compgen -W "${opts}" -- "${cur}") )
}
complete -F shigure_node shigure