#===============================================================================
# Title:        bashrc_iCub.sh
# Description:  this is the iCub enviroment file - SUPERBUILD version
# Date:         2021-MAR-02
# Usage:        source bashrc_iCub.sh
#===============================================================================
if [ "$PS1" ]; then
  echo "Setting up yarp and iCub env vars"
fi
# YARP and iCub enviroment variables
export ROBOT_CODE=/usr/local/src/robot
# Set the name of build path here
export ROBOTOLOGY_SUPERBUILD_SOURCE_DIR=${ROBOT_CODE}/robotology-superbuild
export YARP_SOURCE_DIR=${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/src/YARP
export ICUB_SOURCE_DIR=${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/src/ICUB
export icub_firmware_shared_SOURCE_DIR=${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/src/icub_firmware_shared
export ICUBcontrib_DIR=${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/src/icub-contrib-common

# Change the name of build path here, according to your needs
export OBJ_SUBDIR="build"
if [ "$OBJ_SUBDIR" != "" ]; then
  # Project-specific variables
  export ROBOTOLOGY_SUPERBUILD_BUILD_DIR=${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/${OBJ_SUBDIR}
  export ROBOTOLOGY_SUPERBUILD_INSTALL_DIR=${ROBOTOLOGY_SUPERBUILD_BUILD_DIR}/install
  export YARP_BUILD_DIR=${ROBOTOLOGY_SUPERBUILD_BUILD_DIR}/src/YARP
  export ICUB_BUILD_DIR=${ROBOTOLOGY_SUPERBUILD_BUILD_DIR}/src/ICUB
  export icub_firmware_shared_BUILD_DIR=${ROBOTOLOGY_SUPERBUILD_BUILD_DIR}/src/icub_firmware_shared
  export ICUBcontrib_BUILD_DIR=${ROBOTOLOGY_SUPERBUILD_BUILD_DIR}/src/ICUBcontrib
  # Source the enviroment variables needed by the superbuild
  if [ -f ${ROBOTOLOGY_SUPERBUILD_INSTALL_DIR}/share/robotology-superbuild/setup.sh ]; then
    source ${ROBOTOLOGY_SUPERBUILD_INSTALL_DIR}/share/robotology-superbuild/setup.sh
  fi
fi

# To enable tab completion on yarp port names
if [ -f ${YARP_SOURCE_DIR}/data/bash-completion/yarp ]; then
  source ${YARP_SOURCE_DIR}/data/bash-completion/yarp
fi

# Set the name of your robot here.
# export YARP_ROBOT_NAME=
if [ "$YARP_ROBOT_NAME" = "" ] && [ -f "${ROBOT_CODE}/yarp_robot_name.txt" ]
then
  export YARP_ROBOT_NAME=$( head --lines=1 ${ROBOT_CODE}/yarp_robot_name.txt )
fi

# Set-up optimizations
export CMAKE_BUILD_TYPE=Release

# DebugStream customization
export YARP_VERBOSE_OUTPUT=0
export YARP_COLORED_OUTPUT=1
export YARP_TRACE_ENABLE=0
export YARP_FORWARD_LOG_ENABLE=0

# Drivers section
DRIVER_ROOT=/lib/modules/$(uname -r)/iCubDrivers/
# to be used if the corresponding hardware is mounted on the robot 
#export ESDCANAPI_DIR=${DRIVER_ROOT}/esdCanApi/
#export PLXCANAPI_DIR=${DRIVER_ROOT}/plxCanApi/
export CFW2CANAPI_DIR=${DRIVER_ROOT}/cfw002/