.bashrc

# ~/.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=1000000
HISTFILESIZE=2000000

# 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) 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

function parse_git_branch {
    git branch --no-color 2> /dev/null | sed -e '/^[^*]/d' -e 's/* \(.*\)/ [\1]/'
}

if [ "$color_prompt" = yes ]; then
    PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\[\033[01;31m\]$(parse_git_branch)\[\033[00m\]\n\$ '
else
    PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w$(parse_git_branch)\n\$ '
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

# 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


###------------------------------  <function>  ------------------------------###


percol_search_history () {
    local l=$(HISTTIMEFORMAT= history | tac | sed -e 's/^\s*[0-9]\+\s\+//' | \
                  percol --query "$READLINE_LINE")
    READLINE_LINE="$l"
    READLINE_POINT=${#l}
}


set_catkin_workspace () {
    if ( ! which rosversion > /dev/null ); then return; fi

    if [ $# -ne 0 ]; then
        local ws_id=$1
    else
        local ws_id=1
    fi

    local setup_bash=$(find $HOME -maxdepth 3 -name ".catkin_tools" \
                            2> /dev/null | sort | sed -n ${ws_id}p | \
                           sed s#.catkin_tools#devel/setup.bash#)
    if [ ! -z $setup_bash ] && [ -f $setup_bash ]; then
        # Try to source catkin_workspace under home directory
        source $setup_bash
    else
        # Try to source /opt/ros/${ROS_DISTRO}/setup.bash
        local setup_bash=$(find /opt/ros -maxdepth 2 -name "setup.bash" \
                                2> /dev/null | sort | sed -n ${ws_id}p)
        if [ ! -z $setup_bash ] && [ -f $setup_bash ]; then
            source $setup_bash
        fi
    fi

    if [ $(rospack find jsk_tools 2> /dev/null) ]; then
        rossetmaster localhost
        rossetip
    fi

    # Add node name to ROS console
    export ROSCONSOLE_FORMAT='[${severity}] [${time}] [${node}]: ${message}'

    # RViz for a laptop user
    export OGRE_RTT_MODE=Copy

    # Esc-p : rostopic search
    bind -x '"\ep" : percol_search_rostopic'

    show_ros
}


show_ros () {
    echo "ROS_DISTRO: $ROS_DISTRO"
    echo "CMAKE_PREFIX_PATH: $CMAKE_PREFIX_PATH"
}


percol_search_rostopic () {
  local l=$(rostopic list | percol)
  READLINE_LINE="$READLINE_LINE$l"
  READLINE_POINT=${#READLINE_LINE}
}


set_cuda () {
    export CUDA_HOME=/usr/local/cuda
    export PATH=$CUDA_HOME/bin:$PATH
    export LD_LIBRARY_PATH=$CUDA_HOME/lib64:$LD_LIBRARY_PATH
}


show_cuda () {
    if ( ! which nvcc > /dev/null ); then
        echo "[$0] To show CUDA, please install nvidia-cuda-toolkit.";
        return;
    fi

    # cuda
    CUDA_VERSION=$(command nvcc --version | sed -n 4p | \
                       sed 's/.*, release .*, V\(.*\)/\1/')
    echo "CUDA_VERSION: $CUDA_VERSION"

    # cudnn
    if [ -f $CUDA_HOME/include/cudnn.h ]; then
        local prefix=$CUDA_HOME
    elif [ -f /usr/include/cudnn.h ]; then
        local prefix=/usr
    fi
    local major=$(cat ${prefix}/include/cudnn.h 2> /dev/null | \
                      grep '#define CUDNN_MAJOR' | awk '{print $3}')
    local minor=$(cat ${prefix}/include/cudnn.h 2> /dev/null | \
                      grep '#define CUDNN_MINOR' | awk '{print $3}')
    local patchlevel=$(cat ${prefix}/include/cudnn.h 2> /dev/null | \
                           grep '#define CUDNN_PATCHLEVEL' | awk '{print $3}')
    CUDNN_VERSION="${major}.${minor}.${patchlevel}"
    echo "CUDNN_VERSION: $CUDNN_VERSION"
}


set_anaconda () {
    if [ ! -z $CONDA_PREFIX ] && [ ! -z $CONDA_DEFAULT_ENV ]; then
        source $CONDA_PREFIX/bin/activate $CONDA_DEFAULT_ENV
    else
        if [ $# -ne 0 ]; then
            local env_id=$1
        else
            local env_id=1
        fi

        local conda_activate=$(
            find -L $HOME -maxdepth 5 -name activate 2> /dev/null | \
                grep -E ".anaconda.*/bin/activate" | sort | sed -n ${env_id}p)
        if [ -f $conda_activate ]; then
            source $conda_activate
        fi
    fi

    show_anaconda
}


show_anaconda () {
    echo "CONDA_PREFIX: $CONDA_PREFIX"
}


set_cron () {
    if [ $(crontab -l 2>/dev/null | wc -c | cut -d " " -f 1) -lt 1 ]; then
        if [ -f $HOME/.crontab ]; then
            crontab $HOME/.crontab
        fi
    fi
}


###--------------------------------  <main>  --------------------------------###


# SVN and SSH
export SSH_USER=uchimi
export SVN_SSH="ssh -l ${SSH_USER}"

# C-r: percol history search
bind -x '"\C-r": percol_search_history'

# Setup ROS
# Please specify which workspace to use by a number.
set_catkin_workspace 1

# Setup CUDA
set_cuda
show_cuda

# Setup anaconda
# Please specify which env to use by a number.
# set_anaconda 1

# Setup cron
set_cron

# For additional path
export PATH=$HOME/.local/bin:$PATH

# For color support in emacs & tmux
export TERM=xterm-256color

# pycd (To use this, run "pip install pycd")
if ( which pycd.sh > /dev/null ); then source $(which pycd.sh); fi

# autoenv (To use this, run "pip install autoenv")
if ( which activate.sh > /dev/null ); then source $(which activate.sh); fi