# Description: 用来更新minibot代码,保持代码与服务器上最新代码同步.
#  首先将本地所做修改给还原,然后更新代码后,直接编译所有代码.
# Author: corvin
# History:
#  20220706:init this code.

#定义各种终端中字符使用的颜色
green="\e[32;1m"
red="\e[31m"
normal="\e[0m"

echo -e "\n"
echo -e "${green}>>> 1: 开始从服务器更新代码${normal}"
git reset --hard origin/master
git pull origin master
if [ $? -eq 0 ];then
    echo -e "${green}更新代码完成,准备编译代码...${normal}"
else
    echo -e "${red}从服务器更新代码时,发生错误,检查网络连接${normal}"
    exit -1
fi
echo -e "\n"

sleep 3
echo -e "${green}>>> 2: 开始编译代码${normal}"
rm -rf ~/.ros/log/
catkin_make

if [ $? -eq 0 ];then
    source ~/ros_minibot_ws/devel/setup.bash
    echo -e "${green}>>> 编译ROS代码完成,现在编译oled屏幕代码...${normal}"
else
    echo -e "${red}编译代码发生错误,请检查代码${normal}"
    exit -2
fi
echo -e "\n"

cd src/oled_screen/build/
rm -rf *
cmake ..
make
cd ../
echo -e "\n"
echo -e "${green}>>> 需要输入密码配置oled屏幕启动服务...${normal}"
sudo cp *.service /usr/lib/systemd/system/
echo -e "\n"
echo -e "${green}>>> 全部代码都已编译配置完成,下面开始使用小车...${normal}"
echo -e "\n"

echo -e "${green}>>> 输入以下命令启动小车${normal}"
echo -e "\n"
echo -e "${green} roslaunch robot_bringup robot_bringup.launch${normal}"
echo -e "\n"

echo -e "${green}>>> 输入以下命令遥控小车${normal}"
echo -e "\n"
echo -e "${green} rosrun control_robot control_robot.py${normal}"
echo -e "\n"

echo -e "${green}>>> 输入以下命令打开摄像头${normal}"
echo -e "\n"
echo -e "${green} rqt_image_view${normal}"
echo -e "\n"

exit 0