# 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=1000
HISTFILESIZE=2000

# 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|*-256color) 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

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

# colored GCC warnings and errors
#export GCC_COLORS='error=01;31:warning=01;35:note=01;36:caret=01;32:locus=01:quote=01'

# 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








export PATH="/usr/local/opt/llvm/bin:$PATH"

export LD_LIBRARY_PATH=/usr/lib
#export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp











#export MVCAM_SDK_PATH=/opt/MVS

#export MVCAM_COMMON_RUNENV=/opt/MVS/lib

#export MVCAM_GENICAM_CLPROTOCOL=/opt/MVS/lib/CLProtocol

#export ALLUSERSPROFILE=/opt/MVS/MVFG
#export LD_LIBRARY_PATH=/opt/MVS/lib/64:/opt/MVS/lib/32:$LD_LIBRARY_PATH







export PATH=/usr/local/cuda-12.6/bin:$PATH
export LD_LIBRARY_PATH=/usr/local/cuda-12.6/lib64:$LD_LIBRARY_PATH


export CUDA_HOME=/usr/local/cuda-12.6
#export CUDNN_HOME=/usr/local/cuda-11.8
export PATH=$CUDA_HOME/bin:$PATH
export LD_LIBRARY_PATH=$CUDA_HOME/lib64:$LD_LIBRARY_PATH

#export ROS_DOMAIN_ID=12


#export PATH=$PATH:/usr/local/cuda-11.8/bin
#export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/cuda-11.8/lib64






export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/hy/TensorRT-10.6.0.26/lib
export PATH=/home/hy/TensorRT-10.6.0.26/bin:$PATH
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH



#source /home/hy/acado/build/acado_env.sh
export PATH=/home/hy/arm-gnu-toolchain-14.2.rel1-x86_64-arm-none-eabi/bin:$PATH

# >>> xmake >>>
test -f "/home/hy/.xmake/profile" && source "/home/hy/.xmake/profile"
# <<< xmake <<<

# >>> fishros initialize >>>
source /opt/ros/humble/setup.bash
# <<< fishros initialize <<<

#source /home/hy/moveit2_ws/install/setup.bash
export PATH="$PATH:$HOME/.local/bin"

export NVM_DIR="$HOME/.nvm"
[ -s "$NVM_DIR/nvm.sh" ] && \. "$NVM_DIR/nvm.sh"  # This loads nvm
[ -s "$NVM_DIR/bash_completion" ] && \. "$NVM_DIR/bash_completion"  # This loads nvm bash_completion









export ROS_DOMAIN_ID=42
#alias code='/usr/share/code/code --no-sandbox' 


# >>> wust_vision dev >>>
py() { 
    source ~/anaconda3/etc/profile.d/conda.sh
    echo "已激活 conda, conda activate激活环境，conda deactivate退出环境， conda info --envs查看环境"
}

buildme() { 
    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
}

builddebug() { 
    colcon build --packages-select "$1" --cmake-args -DCMAKE_BUILD_TYPE=Debug --symlink-install
}

killros() { 
    pkill -f ros && ros2 daemon stop && ros2 daemon start
}

format() { 
    find . -path ./build -prune -o \
    -type f \( -name '*.h' -o -name '*.hpp' -o -name '*.c' -o -name '*.cu' -o -name '*.cpp' \) \
    -exec clang-format -i {} +
}

s() { 
    source install/setup.bash
}

hik() { 
    export MVCAM_SDK_PATH=/opt/MVS
    export MVCAM_COMMON_RUNENV=/opt/MVS/lib
    export MVCAM_GENICAM_CLPROTOCOL=/opt/MVS/lib/CLProtocol
    export ALLUSERSPROFILE=/opt/MVS/MVFG
    export LD_LIBRARY_PATH=/opt/MVS/lib/64:/opt/MVS/lib/32:$LD_LIBRARY_PATH
}
# <<< wust_vision dev <<<
. "$HOME/.cargo/env"
. "$HOME/.cargo/env"
export PATH="${HOME}/.bin:${PATH}"



export PATH=/usr/local/go/bin:$PATH
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export LD_LIBRARY_PATH=/home/hy/TensorRT-10.6.0.26/lib:$LD_LIBRARY_PATH
export CUDA_HOME=/usr/local/cuda-12.6
export PATH=$CUDA_HOME/bin:$PATH
export LD_LIBRARY_PATH=$CUDA_HOME/lib64:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=/home/hy/onnxruntime-linux-x64-gpu-1.22.0/lib:$LD_LIBRARY_PATH

#export LUCKFOX_SDK_PATH=/home/hy/luckfox-pico
#export GLIBC_COMPILER=/usr/bin/arm-linux-gnueabihf-
export JAVA_HOME=/usr/lib/jvm/java-21-openjdk-amd64
export PATH=$JAVA_HOME/bin:$PATH
source ~/acado/build/acado_env.sh

source /usr/local/share/sentry_interfase/local_setup.bash