nifstart

#!/usr/bin/env bash

DOCKER_RUNTIMES=$(docker -D info | grep Runtimes)

# Arg parsing
POSITIONAL=()
SIMULATOR=false
CLION=false
ROS_DISTRO="galactic"

while [[ $# -gt 0 ]]; do
  key="$1"

  case $key in
    -s|--with-simulator)
      SIMULATOR=true
      shift # past argument
      shift # past value
      ;;
   -c|--clion)
     CLION=true
     shift # past argument
     shift # past value
     ;;
   --cuda-host)
     CUDA="host"
     shift # past argument
     shift # past value
     ;;
   --foxy)
     ROS_DISTRO="foxy"
     shift # past argument
     shift # past value
     ;;
    *)    # unknown option
      POSITIONAL+=("$1") # save it in an array for later
      shift # past argument
      ;;
  esac
done

set -- "${POSITIONAL[@]}" # restore positional parameters

if [[ -n $1 ]]; then
    echo "Last line of file specified as non-opt/last argument:"
    tail -1 "$1"
fi

if [[ "$DOCKER_RUNTIMES" == *"nvidia"* ]];
then
    OPTIONS_NVIDIA="--env="NVIDIA_VISIBLE_DEVICES"=all \
    --env="NVIDIA_DRIVER_CAPABILITIES"=all \
    --runtime=nvidia"
else
    OPTIONS_NVIDIA=""
fi

if [[ $CUDA == "host" ]] ;
then
  if [[ $ROS_DISTRO == "galactic" ]]
  then
    ADERC=".aderc-cuda-galactic"
    echo "Starting with .aderc-*-cuda-galactic"
  else
    ADERC=".aderc-cuda"
    echo "Starting with .aderc-*-cuda"
  fi
  
elif $SIMULATOR ;
then
  ADERC=".aderc-lgsvl"

elif [[ $ROS_DISTRO == "galactic" ]]
then
  ADERC=".aderc-galactic"
  echo "Starting with .aderc-galactic"

else
  ADERC=".aderc"
fi

OPTIONS_CLION=""
if $CLION ;
then
  if [[ $CLION_PATH ]] ; 
  then
    OPTIONS_CLION="-v $CLION_PATH:/opt/clion \
      -v /home/$USER/.config/JetBrains:/home/$USER/.config/JetBrains \
      -v /home/$USER/.local/share/JetBrains:/home/$USER/.local/share/JetBrains "
  else
    echo ""
    echo "!!!"
    echo "CLION_PATH not specified, starting without clion volume."
    echo "To specify a CLION_PATH, run \`export CLION_PATH=</path/to/clion>\` (default to /opt/clion-<version>)."
    echo "!!!"
    echo ""
    OPTIONS_CLION="-v /home/$USER/.config/JetBrains:/home/$USER/.config/JetBrains \
      -v /home/$USER/.local/share/JetBrains:/home/$USER/.local/share/JetBrains "
    sleep 2
  fi

fi  

ade --rc $ADERC \
    start -f --update -- \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    -v /etc/localtime:/etc/localtime:ro \
    -v /media/$USER/:/home/$USER/media \
    -v /home/$USER/dev_ws/src/bag/:/home/$USER/bag \
    $OPTIONS_CLION \
    $OPTIONS_NVIDIA