bashrc_unitree

# ~/.bashrc: executed by bash(1) for non-login shells.
# see /usr/share/doc/bash/examples/startup-files (in the package bash-doc)
# for examples

# If not running interactively, don't do anything
case $- in
    *i*) ;;
      *) return;;
esac

# don't put duplicate lines or lines starting with space in the history.
# See bash(1) for more options
HISTCONTROL=ignoreboth

# append to the history file, don't overwrite it
shopt -s histappend

# for setting history length see HISTSIZE and HISTFILESIZE in bash(1)
HISTSIZE=1000
HISTFILESIZE=2000

# check the window size after each command and, if necessary,
# update the values of LINES and COLUMNS.
shopt -s checkwinsize

# If set, the pattern "**" used in a pathname expansion context will
# match all files and zero or more directories and subdirectories.
#shopt -s globstar

# make less more friendly for non-text input files, see lesspipe(1)
[ -x /usr/bin/lesspipe ] && eval "$(SHELL=/bin/sh lesspipe)"


# set variable identifying the chroot you work in (used in the prompt below)
if [ -z "${debian_chroot:-}" ] && [ -r /etc/debian_chroot ]; then
    debian_chroot=$(cat /etc/debian_chroot)
fi

# set a fancy prompt (non-color, unless we know we "want" color)
case "$TERM" in
    xterm-color|*-256color) color_prompt=yes;;
esac

# uncomment for a colored prompt, if the terminal has the capability; turned
# off by default to not distract the user: the focus in a terminal window
# should be on the output of commands, not on the prompt
#force_color_prompt=yes

if [ -n "$force_color_prompt" ]; then
    if [ -x /usr/bin/tput ] && tput setaf 1 >&/dev/null; then
	# We have color support; assume it's compliant with Ecma-48
	# (ISO/IEC-6429). (Lack of such support is extremely rare, and such
	# a case would tend to support setf rather than setaf.)
	color_prompt=yes
    else
	color_prompt=
    fi
fi

if [ "$color_prompt" = yes ]; then
    PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '
else
    PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ '
fi
unset color_prompt force_color_prompt

# If this is an xterm set the title to user@host:dir
case "$TERM" in
xterm*|rxvt*)
    PS1="\[\e]0;${debian_chroot:+($debian_chroot)}\u@\h: \w\a\]$PS1"
    ;;
*)
    ;;
esac

# enable color support of ls and also add handy aliases
if [ -x /usr/bin/dircolors ]; then
    test -r ~/.dircolors && eval "$(dircolors -b ~/.dircolors)" || eval "$(dircolors -b)"
    alias ls='ls --color=auto'
    #alias dir='dir --color=auto'
    #alias vdir='vdir --color=auto'

    alias grep='grep --color=auto'
    alias fgrep='fgrep --color=auto'
    alias egrep='egrep --color=auto'
fi

# colored GCC warnings and errors
#export GCC_COLORS='error=01;31:warning=01;35:note=01;36:caret=01;32:locus=01:quote=01'

# some more ls aliases
alias ll='ls -alF'
alias la='ls -A'
alias l='ls -CF'

# Add an "alert" alias for long running commands.  Use like so:
#   sleep 10; alert
alias alert='notify-send --urgency=low -i "$([ $? = 0 ] && echo terminal || echo error)" "$(history|tail -n1|sed -e '\''s/^\s*[0-9]\+\s*//;s/[;&|]\s*alert$//'\'')"'

# Alias definitions.
# You may want to put all your additions into a separate file like
# ~/.bash_aliases, instead of adding them here directly.
# See /usr/share/doc/bash-doc/examples in the bash-doc package.

if [ -f ~/.bash_aliases ]; then
    . ~/.bash_aliases
fi

# enable programmable completion features (you don't need to enable
# this, if it's already enabled in /etc/bash.bashrc and /etc/profile
# sources /etc/bash.bashrc).
if ! shopt -oq posix; then
  if [ -f /usr/share/bash-completion/bash_completion ]; then
    . /usr/share/bash-completion/bash_completion
  elif [ -f /etc/bash_completion ]; then
    . /etc/bash_completion
  fi
fi


# >>> fishros initialize >>>
# --- Safe ROS environment setup (menu + manual switchers) ---

# 0) helper: clear any existing ROS env so distros don't mix
unset_ros() {
  unset ROS_DISTRO ROS_VERSION ROS_PACKAGE_PATH ROS_ETC_DIR ROS_ROOT ROS_MASTER_URI ROS_PYTHON_VERSION
  unset AMENT_PREFIX_PATH COLCON_PREFIX_PATH CMAKE_PREFIX_PATH
}

# 1) manual safe switchers you can run anytime:
sr1() {                         # ROS 1 Noetic
  unset_ros
  source /opt/ros/noetic/setup.bash
  source ~/catkin_unilidar/devel/setup.bash
  # If you have a ROS 1 workspace, add it here:
  # source ~/catkin_unilidar/devel/setup.bash
  echo "[ROS] now using: $(echo $ROS_DISTRO)"
}

sr2() {                         # ROS 2 Foxy
  unset_ros
  source /opt/ros/foxy/setup.bash
  source ~/go2w_ws/unitree_ros2/setup.sh
  # Your Go2W Foxy extras:
  export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
  export CYCLONEDDS_URI=~/go2w_ws/cyclonedds_ws/cyclonedds.xml
  export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH
  export ROS_DOMAIN_ID=0
  # Add your ROS 2 workspace last:
  source ~/go2w_ws/install/setup.bash
  echo "[ROS] now using: $(echo $ROS_DISTRO)"
}

# 2) automatically load ROS 2 Foxy for all interactive shells
#    - loads automatically on terminal start (no prompt needed)
#    - you can still switch anytime with: sr1 (for Noetic) or sr2 (for Foxy)
if [[ $- == *i* ]]; then
  sr2
fi

# >>> conda initialize >>>
# !! Contents within this block are managed by 'conda init' !!
__conda_setup="$('/home/unitree/miniconda3/bin/conda' 'shell.bash' 'hook' 2> /dev/null)"
if [ $? -eq 0 ]; then
    eval "$__conda_setup"
else
    if [ -f "/home/unitree/miniconda3/etc/profile.d/conda.sh" ]; then
        . "/home/unitree/miniconda3/etc/profile.d/conda.sh"
    else
        export PATH="/home/unitree/miniconda3/bin:$PATH"
    fi
fi
unset __conda_setup
# <<< conda initialize <<<

# --- Optional TigerVNC/noVNC (disabled by default) ---
# Enable only when needed:
#   export ENABLE_TIGERVNC_AUTOSTART=1
if [ "${ENABLE_TIGERVNC_AUTOSTART:-0}" = "1" ]; then
  # --- RealSense/ROS GUI defaults for VNC/headless sessions ---
  # Set default DISPLAY to :1 (VNC display) only in VNC mode.
  if [ -z "$DISPLAY" ]; then
    export DISPLAY=:1
  fi

  # Force software rendering only on VNC/headless display :1
  if [ "$DISPLAY" = ":1" ]; then
    export LIBGL_ALWAYS_SOFTWARE=1
    export QT_XCB_FORCE_SOFTWARE_OPENGL=1
  fi

  # --- Auto-start VNC + noVNC (web UI on :6080) ---
  # Starts a TigerVNC server on :1 (port 5901) and a noVNC/websockify proxy on :6080
  # Runs only if the respective ports are not already listening.
  {
  # Ensure required tools exist
  have_ss=$(command -v ss || true)
  novnc_proxy="$HOME/noVNC/utils/novnc_proxy"

  # Start VNC server on :1 if not listening on 5901
  if [ -n "$have_ss" ] && ! ss -tulpn 2>/dev/null | grep -qE ":5901\\b"; then
    if command -v vncserver >/dev/null 2>&1; then
      vncserver :1 -geometry 1280x800 -depth 24 -localhost no >/tmp/vncserver_autostart.log 2>&1 || true
    fi
  fi

  # Wait briefly for VNC to come up (max ~3s)
  if [ -n "$have_ss" ]; then
    for _i in 1 2 3 4 5 6; do
      ss -tulpn 2>/dev/null | grep -qE ":5901\\b" && break
      sleep 0.5
    done
  fi

  # Start noVNC/websockify on :6080 if not already listening
  if [ -n "$have_ss" ] && ! ss -tulpn 2>/dev/null | grep -qE ":6080\\b"; then
    if [ -x "$novnc_proxy" ]; then
      "$novnc_proxy" --vnc localhost:5901 --listen 0.0.0.0:6080 \
        >/tmp/novnc_proxy.log 2>&1 & echo $! > /tmp/novnc_proxy.pid
    else
      # Fallback to python runner if novnc_proxy is not marked executable
      if command -v python3 >/dev/null 2>&1 && [ -f "$novnc_proxy" ]; then
        python3 "$novnc_proxy" --vnc localhost:5901 --listen 0.0.0.0:6080 \
          >/tmp/novnc_proxy.log 2>&1 & echo $! > /tmp/novnc_proxy.pid
      fi
    fi
  fi
  } >/dev/null 2>&1
fi