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#!/bin/bash

function usage() {
cat <<_EOT_

Usage:
  $ ./ros_setup [-0|-h] my_ip master_ip

Description:
  複数台PCでROSする用の設定用bash．
  .bashrcに書き込むので設定は1度行うと保たれる．

Options:
  -0	通常のlocalhostをマスタとするスタンドアローンモードにする
  -h	ヘルプ
	
Arguments:
  my_ip		このPCのIPアドレス
  master_ip	マスタとなるPCのIPアドレス

_EOT_
exit 1
}


function set_localhost_master() {
{
  echo "#!/bin/bash"
  echo ""
  echo "unset ROS_IP"
  echo "export ROS_MASTER_URI=http://localhost:11311/"
} >"$1"/"$2"
}

function set_this_machine_master() {
{
  echo "#!/bin/bash"
  echo ""
  echo "export ROS_IP=$3"
  echo "export ROS_MASTER_URI=http://localhost:11311/"
} >"$1"/"$2"
}

function set_other_machine_master() {
{
  echo "#!/bin/bash"
  echo ""
  echo "export ROS_IP=$3"
  echo "export ROS_MASTER_URI=http://$4:11311/"
} >"$1"/"$2"
}



bash_folder=$HOME/.ros/ros_ip_setup
setup_bash=ros_ip_setup.bash 

if [ ! -e $bash_folder ]; then
  mkdir $bash_folder
  touch $bash_folder/$setup_bash  
  echo "source $bash_folder/$setup_bash" >> ~/.bashrc
fi

: > $bash_folder/$setup_bash

case "$1" in
"-0") 
  set_localhost_master $bash_folder $setup_bash 
  ;;    
"-h") 
  usage
  ;;
 *  )
  if [ "$#" = "2" ]; then
    if [ $1 != $2 ]; then
      set_other_machine_master $bash_folder $setup_bash $1 $2
    elif [ $1 = $2 -o $2 = "localhost" ]; then
      set_this_machine_master $bash_folder $setup_bash $1 
    fi
  else
    echo "Try to enter the -h option." 
  fi
  ;;
esac

echo "Once do '$ source ~/.bashrc'"