.helper_bash_functions

#!/bin/bash
Red='\033[0;31m'          # Red
Green='\033[0;32m'        # Green
Yellow='\033[0;33m'       # Yellow
Color_Off='\033[0m'       # Text Reset


CATKIN_WS_PATH="/cortex/.catkin_ws"
THIS_SCRIPT_BRANCH="main"
THIS_SCRIPT_URL="https://raw.githubusercontent.com/Extend-Robotics/er_build_tools/refs/heads/${THIS_SCRIPT_BRANCH}/.helper_bash_functions"
# ROS helpers
export ROSCONSOLE_FORMAT='[${severity}](${node}): [${time}] ${message}'
colcon_build() {
    local COLCON_BUILD_COMMAND="colcon build --cmake-args -DSETUPTOOLS_DEB_LAYOUT=OFF"
    [ -n "$1" ] && COLCON_BUILD_COMMAND+=" --packages-up-to $1"
    _colcon_build "$COLCON_BUILD_COMMAND"
    return $?
}
colcon_build_no_deps() {
    local COLCON_BUILD_COMMAND="colcon build --cmake-args -DSETUPTOOLS_DEB_LAYOUT=OFF"
    [ -n "$1" ] && COLCON_BUILD_COMMAND+=" --packages-select $1"
    _colcon_build "$COLCON_BUILD_COMMAND"
    return $?
}
colcon_build_sym() {
    local COLCON_BUILD_COMMAND="colcon build --packages-skip-cache-valid --symlink-install --cmake-args -DSETUPTOOLS_DEB_LAYOUT=OFF"
    [ -n "$1" ] && COLCON_BUILD_COMMAND+=" --packages-up-to $1"
    _colcon_build "$COLCON_BUILD_COMMAND"
    return $?
}
_colcon_build() {
    local START_DIR="$(pwd)"
    local COLCON_BUILD_COMMAND="$1"
    cd "$CATKIN_WS_PATH" || return 1
    source /opt/ros/noetic/setup.bash
    echo -e "${Yellow}Running build command:\n${Green}${COLCON_BUILD_COMMAND}${Color_Off}"
    eval "$COLCON_BUILD_COMMAND"
    local RET_VAL=$?
    source "$CATKIN_WS_PATH/install/setup.bash"
    cd "$START_DIR"
    return $RET_VAL
}
colcon_build_this() { colcon_build "$(find_cmake_project_names_from_dir .)"; }
colcon_build_er_interface() { colcon_build_no_deps "$(find_cmake_project_names_from_dir ${CATKIN_WS_PATH}/src/er_interface)"; }
colcon_test_er_interface() { colcon_test_this_package "$(find_cmake_project_names_from_dir ${CATKIN_WS_PATH}/src/er_interface)"; }
rosdep_install() { rosdep install --from-paths src --ignore-src -r -y ; }
_show_test_failures() {
    python3 - "$@" <<'PYEOF'
import sys, xml.etree.ElementTree as ET
from pathlib import Path
for d in sys.argv[1:]:
    for p in sorted(Path(d).rglob("*.xml")):
        for tc in ET.parse(p).iter("testcase"):
            for f in list(tc.iter("failure")) + list(tc.iter("error")):
                tag = "FAIL" if f.tag == "failure" else "ERROR"
                print(f"\n  {tag}: {tc.get('classname', '')}.{tc.get('name', '')}")
                if f.text:
                    lines = f.text.strip().splitlines()
                    for l in lines[:20]:
                        print(f"    {l}")
                    if len(lines) > 20:
                        print(f"    ... ({len(lines) - 20} more lines)")
PYEOF
}
colcon_test_these_packages() { local THIS_DIR=$(pwd)
                               local VERBOSE_FLAG=""
                               if [[ "$1" == "-v" || "$1" == "--verbose" ]]; then
                                   VERBOSE_FLAG="--event-handlers console_direct+"
                                   shift
                               fi
                               cd ${CATKIN_WS_PATH}
                               colcon_build_no_deps "$1"
                               source install/setup.bash && \
                               colcon test --packages-select $1 ${VERBOSE_FLAG}
                               for pkg in $1; do
                                   if ! colcon test-result --test-result-base "build/$pkg/test_results"; then
                                       _show_test_failures "build/$pkg/test_results"
                                   fi
                               done
                               cd $THIS_DIR

}
colcon_test_this_package() { colcon_test_these_packages "$@"; }
find_cmake_project_names_from_dir() { if [[ -z $1 ]]; then DIR_TO_SEARCH="."; else DIR_TO_SEARCH=$1; fi; wget -qO- https://raw.githubusercontent.com/Extend-Robotics/er_build_tools/refs/heads/main/bin/find_cmake_project_names.py | python3 - $DIR_TO_SEARCH; }

if [ -f /.dockerenv ]; then
  # Git autocomplete
  source /etc/bash_completion.d/git-prompt
  source /usr/share/bash-completion/completions/git
  
  # Git pretty terminal
  function be_get_branch {
    local dir="$PWD"
    local vcs
    local nick
    while [[ "$dir" != "/" ]]; do
      for vcs in git hg svn bzr; do
        if [[ -d "$dir/.$vcs" ]] && hash "$vcs" &>/dev/null; then
          case "$vcs" in
            git) __git_ps1 "${1:-(%s) }"; return;;
            hg) nick=$(hg branch 2>/dev/null);;
            svn) nick=$(svn info 2>/dev/null\
                  | grep -e '^Repository Root:'\
                  | sed -e 's#.*/##');;
            bzr)
              local conf="${dir}/.bzr/branch/branch.conf" # normal branch
              [[ -f "$conf" ]] && nick=$(grep -E '^nickname =' "$conf" | cut -d' ' -f 3)
              conf="${dir}/.bzr/branch/location" # colo/lightweight branch
              [[ -z "$nick" ]] && [[ -f "$conf" ]] && nick="$(basename "$(< $conf)")"
              [[ -z "$nick" ]] && nick="$(basename "$(readlink -f "$dir")")";;
          esac
          [[ -n "$nick" ]] && printf "${1:-(%s) }" "$nick"
          return 0
        fi
      done
      dir="$(dirname "$dir")"
    done
  }
  
  # Add branch to PS1 (based on $PS1 or $1), formatted as $2
  export GIT_PS1_SHOWDIRTYSTATE=yes
  
  #pretty PS1:
  export PS1="\$([[ \$? != 0 ]] && echo \"[\[\033[0;31m\]\342\234\227\[\033[0;37m\]]\342\224\200\")[$(if [[ ${EUID} == 0 ]]; then echo '\[\033[0;31m\]\h'; else echo '\[\033[0;33m\]\u\[\033[0;37m\]@\[\033[0;95m\]\h'; fi)\[\033[0;37m\]]\342\224\200[\[\033[0;32m\]\w\[\033[0;37m\]]\n\[\033[0;37m\]\342\224\224\342\224\200\342\224\200\342\225\274 \[\033[0m\]"
  export PS1="\[\033[0;37m\]\342\224\214\342\224\200\$(be_get_branch "$2")${PS1}";
fi

# Git helpers
git config --global alias.sshify '!f() { git remote set-url origin $(git remote get-url origin | sed -En "s/https:\/\/github.com\//git@github.com:/p") ; }; f'
git config --global alias.unsshify '!f() { git remote set-url origin $(git remote get-url origin | sed -En "s/git@github.com:/https:\/\/github.com\//p") ; }; f'
git_add_ssh() { eval "$(ssh-agent -s)"; ssh-add ~/.ssh/id_rsa ; }
git_print_log() { git log --graph --oneline --decorate --all ; }
git_push_empty_commit() { git commit --allow-empty -m "trigger_checks" && git push origin $(git branch  | grep "\* " | awk '{print $NF}'); }

# General bash helpers
function confirm() {
	# call with a prompt string or use a default
	read -r -p "${1:-[y/N]} " response
	case "$response" in
		[yY][eE][sS]|[yY])
			echo "y"
			return 1
			;;
		*)
			echo "n"
			return 0
			;;
	esac
}
FIND_PYTHON_FILES_SCRIPT="$HOME/.find_python_files.sh"
check_find_python_files() {
  if ! [ -x "$FIND_PYTHON_FILES_SCRIPT" ]; then
	  wget -qO "$FIND_PYTHON_FILES_SCRIPT" \
		https://raw.githubusercontent.com/Extend-Robotics/er_build_tools/refs/heads/main/find_python_files.sh
	  chmod +x "$FIND_PYTHON_FILES_SCRIPT"
  fi
}
alias cgrep="grep --color=always"
ps_aux() { ps aux | cgrep $1 | grep -v grep ; }
ps_aux_command() { ps -e -o command | cgrep $1 | grep -v grep ; }
grep_all() { grep -rn '.' -e "$1"; }
find_all() { find '.' -name "*$1*"; }
cd_ltr(){ cd $1$(ls $1 -ltr -d */ | tail -n 1 | awk '{print $9}'); }
cats() { for input_file in $@; do echo -e "${input_file}: \n"; highlight -O ansi --force $input_file; echo -e "\n"; done; }
catsn() { for input_file in $@; do echo -e "${input_file}: \n"; highlight -O ansi --force -n $input_file; echo -e "\n"; done; }
ps_aux() { ps aux | cgrep $1 | grep -v grep ; }
kill_any_process() { ps_aux_command $1; conf="$(confirm "kill these processes? [Y/n]")"; if [[ $conf == "y" ]]; then echo "killing..."; sudo kill -9 $(ps_aux $1 | awk {'print $2}'); sleep 1; echo "remaining: "; ps_aux_command $1 else echo "not killing"; fi ; }
docker_exec () { if [[ $(docker container ls -q | wc -l) -eq 1 ]]; then docker exec -it $(docker container ls -q) bash; else echo "wrong number of containers running"; fi; }
awk_line_length() { if [[ -z $2 ]]; then MAX_LINE_LENGTH=200; else MAX_LINE_LENGTH=$2; fi; cat $1 | awk 'length($0) < '"$MAX_LINE_LENGTH"''; }

MERGE_VARS_URL="https://raw.githubusercontent.com/Extend-Robotics/er_build_tools/refs/heads/${THIS_SCRIPT_BRANCH}/bin/merge_helper_vars.py"
update_helper_bash_functions() {
    if [ ! -f ~/.helper_bash_functions ]; then
        echo -e "${Red}ERROR: Tried to replace this file but couldn't find it, something has gone wrong!${Color_Off}\n"
        return 1
    fi

    if [ -f "${FIND_PYTHON_FILES_SCRIPT}" ]; then
        rm "${FIND_PYTHON_FILES_SCRIPT}"
    fi
    check_find_python_files

    local tmp_new
    tmp_new=$(mktemp)
    if ! wget -q -O "${tmp_new}" "${THIS_SCRIPT_URL}"; then
        echo -e "${Red}Error: Failed to download updated helper_bash_functions${Color_Off}"
        rm -f "${tmp_new}"
        return 1
    fi

    local merge_script
    merge_script=$(curl -fSL "${MERGE_VARS_URL}") || {
        echo -e "${Red}Error: Failed to fetch merge_helper_vars.py${Color_Off}"
        rm -f "${tmp_new}"
        return 1
    }

    if ! python3 <(echo "${merge_script}") ~/.helper_bash_functions "${tmp_new}"; then
        echo -e "${Red}Error: merge_helper_vars.py failed; aborting update to preserve local customizations${Color_Off}"
        rm -f "${tmp_new}"
        return 1
    fi
    cp "${tmp_new}" ~/.helper_bash_functions
    rm -f "${tmp_new}"

    echo ""
    echo -e "${Green}helper_bash_functions updated. Run 'source ~/.helper_bash_functions' to reload.${Color_Off}"
}

# python linters
LINTER_VERSIONS_URL="https://raw.githubusercontent.com/Extend-Robotics/er_build_tools/refs/heads/${THIS_SCRIPT_BRANCH}/linter_versions.env"
LINTER_MAX_LINE_LENGTH="140"

check_linter_versions() {
    if ! [ -s /tmp/linter_versions.env ]; then
        echo -e "${Yellow}Fetching ${LINTER_VERSIONS_URL}...${Color_Off}" >&2
        local tmp=/tmp/linter_versions.env.tmp
        if ! wget -qO "$tmp" "$LINTER_VERSIONS_URL" || ! [ -s "$tmp" ]; then
            echo -e "${Red}Failed to fetch ${LINTER_VERSIONS_URL}${Color_Off}" >&2
            rm -f "$tmp"
            return 1
        fi
        mv "$tmp" /tmp/linter_versions.env
    fi
    source /tmp/linter_versions.env
    local var
    for var in LINTER_PYTHON_VERSION LINTER_PYLINT_VERSION LINTER_FLAKE8_VERSION LINTER_RUFF_VERSION; do
        if [ -z "${!var}" ]; then
            echo -e "${Red}${var} not set after sourcing /tmp/linter_versions.env${Color_Off}" >&2
            return 1
        fi
    done
}
ensure_uv() {
    [ -f "$HOME/.local/bin/env" ] && source "$HOME/.local/bin/env"
    [[ ":$PATH:" != *":$HOME/.local/bin:"* ]] && export PATH="$HOME/.local/bin:$PATH"
    command -v uv &>/dev/null && return 0
    echo -e "${Yellow}Installing uv...${Color_Off}" >&2
    curl -LSf https://astral.sh/uv/install.sh | sh >&2 || return 1
    command -v uv &>/dev/null
}
ensure_uv_tool_pinned() {
    local name="$1" version="$2" python_version="$3"
    ensure_uv || return 1
    local installed
    installed="$(uv tool list | awk -v n="$name" '$1==n { sub(/^v/, "", $2); print $2 }')"
    [[ "$installed" == "$version" ]] && return 0
    echo -e "${Yellow}Installing ${name}==${version} (Python ${python_version}) via uv...${Color_Off}" >&2
    uv tool install --force --python "$python_version" "${name}==${version}" >&2 || return 1
}
find_python_files_here() {
  check_find_python_files
  "$FIND_PYTHON_FILES_SCRIPT"
}
check_pylintrc() { if ! [ -f /tmp/pylintrc ]; then wget -O /tmp/pylintrc https://raw.githubusercontent.com/Extend-Robotics/er_build_tools/refs/heads/main/pylintrc; fi; }
check_apt_package() {
    if dpkg -l | grep -qw "$1"; then
        return 0
    fi
    sudo DEBIAN_FRONTEND=noninteractive NEEDRESTART_MODE=a apt-get update && \
    sudo DEBIAN_FRONTEND=noninteractive NEEDRESTART_MODE=a apt-get install -y \
        -o Dpkg::Options::="--force-confnew" "$1"
    return 1
}
# Linter wrappers run as subshell functions with PYTHONHOME/PYTHONPATH unset, so uv's Python
# isn't redirected to a foreign stdlib. (Isaac Sim images export PYTHONHOME pointing at a 3.11
# tree; uv's 3.8 then fails with "No module named encodings" both at build and shim launch.)
er_flake8_here() (
    unset PYTHONHOME PYTHONPATH
    check_pylintrc
    check_linter_versions || return 1
    ensure_uv_tool_pinned "flake8" "$LINTER_FLAKE8_VERSION" "$LINTER_PYTHON_VERSION" || return 1
    echo -e "${Yellow}Running flake8...${Color_Off}" >&2
    flake8 --config /tmp/pylintrc --max-line-length ${LINTER_MAX_LINE_LENGTH}
)
er_pylint_here() (
    unset PYTHONHOME PYTHONPATH
    check_pylintrc
    check_linter_versions || return 1
    ensure_uv_tool_pinned "pylint" "$LINTER_PYLINT_VERSION" "$LINTER_PYTHON_VERSION" || return 1
    echo -e "${Yellow}Running pylint...${Color_Off}" >&2
    pylint --rcfile /tmp/pylintrc --max-line-length ${LINTER_MAX_LINE_LENGTH} $(find_python_files_here)
)
er_pylint_sorted_here() { er_pylint_here | sort -V | grep -v "\*\*\*\*\*\*\*\*"; return ${PIPESTATUS[0]}; }
er_pylint_single_file() (
    unset PYTHONHOME PYTHONPATH
    check_pylintrc
    check_linter_versions || return 1
    ensure_uv_tool_pinned "pylint" "$LINTER_PYLINT_VERSION" "$LINTER_PYTHON_VERSION" || return 1
    echo -e "${Yellow}Running pylint on $1...${Color_Off}" >&2
    pylint --rcfile /tmp/pylintrc --max-line-length ${LINTER_MAX_LINE_LENGTH} "$1"
)
er_pylint_single_file_sorted() { er_pylint_single_file "$1" | sort -V | grep -v "\*\*\*\*\*\*\*\*"; return ${PIPESTATUS[0]}; }
er_ruff_here() (
    unset PYTHONHOME PYTHONPATH
    check_linter_versions || return 1
    ensure_uv_tool_pinned "ruff" "$LINTER_RUFF_VERSION" "$LINTER_PYTHON_VERSION" || return 1
    echo -e "${Yellow}Running ruff...${Color_Off}" >&2
    ruff check
)
er_python_linters_here() { local ret=0
                           echo
                           er_pylint_sorted_here || ret=$?
                           echo
                           er_flake8_here || ret=$?
                           echo
                           er_ruff_here || ret=$?
                           echo
                           if [[ $ret -eq 0 ]]; then
                               echo -e "${Green}All linters passed${Color_Off}"
                           else
                               echo -e "${Red}Linters failed (exit code $ret)${Color_Off}"
                           fi
                           return $ret
}