setup_robot_configuration

#!/bin/bash

# Check if running with root privileges
if [[ $EUID -ne 0 ]]; then
   echo "This script must be run as root" 
   exit 1
fi

# resize fs
echo "Resizing the file system"

root_device=/dev/$(lsblk -no PKNAME,MOUNTPOINT | awk '$2 == "/" {print $1}')
partition_suffix=$(lsblk -no KNAME,MOUNTPOINT | awk '$2 == "/" {gsub(/.*[^0-9]/, "", $1); print $1}')

if [[ $root_device == /dev/sd* ]]; then
  partition_number="${partition_suffix}"
else
  partition_number="p${partition_suffix}"
fi

sudo growpart ${root_device} ${partition_suffix}
sudo resize2fs ${root_device}${partition_number}

# Parse command line arguments
if [[ $# -gt 2 ]]; then
    echo "Usage: $(basename "$0") ROBOT_MODEL ROS_VERSION"
    exit 0
fi

if [ -z "$2" ]; then
  if [ "$IMAGE_TYPE" == "VULCANEXUS_HUMBLE" ]; then
    ros_version="vulcanexus_humble"
  elif [ "$IMAGE_TYPE" == "ROS2_JAZZY" ]; then
    ros_version="ros2_jazzy"
  elif [ "$IMAGE_TYPE" == "ROS2_HUMBLE" ]; then
    ros_version="ros2_humble"
  elif [ "$IMAGE_TYPE" == "ROS2_FOXY" ]; then
    ros_version="ros2_humble"
  elif [ "$IMAGE_TYPE" == "ROS_NOETIC" ]; then
    ros_version="ros_noetic"
  else
    echo "Error: No ROS version specified"
    exit 1
  fi
else
  if [ "$2" == "vulcanexus_humble" ] || [ "$2" == "ros2_jazzy" ] || [ "$2" == "ros2_humble" ] || [ "$2" == "ros_noetic" ]; then
    ros_version="$2"
  else
    echo "Error: Invalid ROS version specified: $2"
    echo "Usage: $(basename "$0") ROBOT_MODEL ROS_VERSION"
    exit 1
  fi
fi

echo "ROS version: ${ros_version}"

if [ -z "$1" ]; then
  echo ""
  echo "Using default configuration"
  exit 0
else
  if [ "$1" == "rosbot_xl" ] || [ "$1" == "rosbot_3" ] || [ "$1" == "rosbot_2r" ] || [ "$1" == "rosbot_2_pro" ] || [ "$1" == "panther" ]; then
    robot_model="$1"
  else
    echo "Error: Invalid robot model: $1"
    echo "Usage: $(basename "$0") ROBOT_MODEL ROS_VERSION"
    exit 1
  fi

  echo "Robot model: ${robot_model}"

  cp -rp /etc/husarion/robot_configs/${robot_model}/${ros_version}/* /home/husarion
  dpkg -i /etc/husarion/robot_configs/${robot_model}/motd_$(uname -m).deb
  cp /etc/husarion/robot_configs/${robot_model}/netplan.yaml /etc/netplan/01-network-manager-all.yaml
  bash /usr/lib/husarion/custom_config_${robot_model}.sh
fi

mkdir /home/husarion/.ros
chown husarion:husarion /home/husarion/.ros

sudo chmod 600 /etc/netplan/01-network-manager-all.yaml

# Generating new SSH credentials
sudo echo "" > /root/.ssh/authorized_keys
sudo echo "" > /root/.ssh/known_hosts
sudo echo "" > /home/husarion/.ssh/authorized_keys
sudo echo "" > /home/husarion/.ssh/known_hosts
sudo rm -rf /etc/ssh/ssh_host_*

ssh-keygen -A
# systemctl restart ssh.service 

# Print success message
echo ""
echo "Configuration files copied successfully for robot model \"$robot_model\" and ROS version \"$ros_version\""