guillaumefalvet · August 21, 2025 06:33
diff --git a/zsh.sh b/zsh.sh
 # source ~/powerlevel10k/powerlevel10k.zsh-theme
 PATH=$PATH:$HOME/.local/bin
 export ZSH="$HOME/.oh-my-zsh"
 # set by `omz`
 ZSH_THEME="robbyrussell" # set by `omz`
 # ZSH_THEME="powerlevel10k/powerlevel10k"
 plugins=(git zsh-autosuggestions)
 alias ffs="sudo sysctl fs.inotify.max_user_watches=131070"
 source $ZSH/oh-my-zsh.sh
 source ~/zsh-autocomplete/zsh-autocomplete.plugin.zsh
 source ~/zsh-syntax-highlighting/zsh-syntax-highlighting.zsh
 source /opt/ros/humble/setup.zsh

 eval $(thefuck --alias)
 eval $(thefuck --alias FUCK)
 # GENERAL OPTIONS
 export __GLX_VENDOR_LIBRARY_NAME=nvidia
 export __NV_PRIME_RENDER_OFFLOAD=1
 alias python=python3
 export NODE_OPTIONS=--max_old_space_size=10000


 # --- FORSSEA OPTIONS --- #
 export GZ_VERSION=harmonic
 export ROS_DOMAIN_ID=77

 # --- POSTGRES OPTIONS --- #
 export PGPASSWORD='postgres'
 export PGHOST='localhost'
 export PGUSER='postgres'
 # export PGDATABASE='postgres'
 export PGPORT='5432'
 package_cleanup () {
    rm -rf node_modules/@forssea_robotics dist package-lock.json .angular
 }

 package_cleanup_hard () {
    rm -rf node_modules dist package-lock.json .angular
 }

 # Function to start Verdaccio package registry server
 start_verdaccio() {
    echo "\033[32mStarting verdaccio...\033[00m"
    verdaccio --listen 0.0.0.0:4873
 }

 # Function to remove and reinstall Firefox using snap and apt
 firefox_clean() {
    sudo snap remove firefox
    # wget -q https://packages.mozilla.org/apt/repo-signing-key.gpg -O- | sudo tee /etc/apt/keyrings/packages.mozilla.org.asc > /dev/null
    sudo apt install firefox
 }

 vscode_clean(){
    sudo snap remove code
    sudo snap install --revision 159 --classic code
 }

 # Function to switch to the 'develop' branch in Git
 gitd() {
    git checkout develop
 }

 # Function to push changes to Git while skipping CI/CD pipeline
 gitci() {
    git push -o ci.skip
 }

 git_branch_clean_up() {
    git branch | grep -v 'main\|master' | xargs git branch -d
 }

 # Function to kill all running Node.js processes
 kill_all_node() {
    killall node
 }

 # Alias to open the .zshrc file in Visual Studio Code
 alias zsh_config="code ~/.zshrc"
 alias reload="omz reload"
 # Alias to open the Espanso configuration file in Visual Studio Code
 alias espanso_config="code /home/gfalvet/.config/espanso/match"

 # Alias to open the Oh My Zsh configuration file in Visual Studio Code
 alias ohmyzsh="code ~/.oh-my-zsh"

 # Alias to open the current directory in Nautilus file manager
 alias opn="nautilus -s ."
 alias usage="htop"
 alias ramusage_basic="free -h"
 alias cpuusage="top"
 alias watcher="sudo sysctl -w fs.inotify.max_user_watches=524288"
 alias node_urls="python3 /home/gfalvet/.config/espanso/match/all_url.py"

 alias npmi="npm i --verbose"

 print_hmi_env_info() {
    echo "\033[34mHMI env path info.\033[00m"
    echo "PATH_TO_ROS_CONTROLLERS_CONFIG =" $PATH_TO_ROS_CONTROLLERS_CONFIG
    echo "PATH_TO_ROS_SPE75_HW_CONFIG =" $PATH_TO_ROS_SPE75_HW_CONFIG
    echo "SYSTEM_TEMPERATURE_FILE =" $SYSTEM_TEMPERATURE_FILE
    echo "SYSTEM_PRESSURE_FILE =" $SYSTEM_PRESSURE_FILE
    echo "NODE_OPTIONS=" $NODE_OPTIONS
    echo "DEVELOPER_MODE=" $DEVELOPER_MODE
    echo "PATH_TO_TOOLS_NAMES_MAPPING=" $PATH_TO_TOOLS_NAMES_MAPPING
    echo "HMI_AUTONOMY_TARGET_TOLERANCE_APPROXIMATED =" $HMI_AUTONOMY_TARGET_TOLERANCE_APPROXIMATED
    echo "HMI_AUTONOMY_TARGET_TOLERANCE_PRECISE =" $HMI_AUTONOMY_TARGET_TOLERANCE_PRECISE
    echo "PATH_TO_SOFTWARE_RELEASE_NAME =" $PATH_TO_SOFTWARE_RELEASE_NAME
    echo "PATH_TO_SOFTWARE_RELEASE_DESCRIPTION =" $PATH_TO_SOFTWARE_RELEASE_DESCRIPTION
    echo "PATH_TO_SOFTWARE_RELEASE_DATE =" $PATH_TO_SOFTWARE_RELEASE_DATE
    echo "PATH_TO_SOFTWARE_RELEASE_HMI_VERSION =" $PATH_TO_SOFTWARE_RELEASE_HMI_VERSION
    echo "PATH_TO_FLIGHT_RECORDER_FILES =" $PATH_TO_FLIGHT_RECORDER_FILES
    echo "PATH_TO_FEATURES_CONFIG =" $PATH_TO_FEATURES_CONFIG
 }

 source_workspace_vpvl(){
    echo "\033[32mWorkspace vpvl sourced.\033[00m"
    source /opt/ros/humble/setup.zsh
    source /home/gfalvet/Develop/ws_vpvl_rov/install/setup.zsh
 }


 source_workspace(){
    echo "\033[32mWorkspace sourced.\033[00m"
    source /opt/ros/humble/setup.zsh
    source /home/gfalvet/Develop/ws_frs_rov/install/setup.zsh
 }

 register_obscam_mocked() {
    slptool -s NETWORK register camera-controls.FORSSEA://127.0.0.1 "(x-grpc-port=0000),(x-grpc-web-port=0000),(x-serial-number=GUILLAUME_MOCKED),(x-name=GUILLAUME_MOCKED),(x-http-port=5000)"
 }

 run_obscam_mocked(){
    echo "\033[32mObscam Server Mocked\033[00m"
    cd /home/gfalvet/Develop/camera/obscam_control/obscam_control_server
    export $(cat config/obscam_control_server.env)
    source_workspace
    flask run
 }

 print_node_version(){
    node_version=$(node -v)
    echo "\033[32mNode version: $node_version\033[00m"
 }

 robot_hmi() {
    echo "\033[32mNode version: $node_version\033[00m"
    trap 'echo "\n\033[33mProcess interrupted with Control-C\033[00m"' INT
    local t=$1

    case "$t" in
        "rovins"|"x")
            export PATH_TO_ROS_CONTROLLERS_CONFIG=/home/gfalvet/Develop/ws_frs_rov/install/share/argos_${t}_bringup/config/controllers.yaml
            export PATH_TO_ROS_SPE75_HW_CONFIG=/home/gfalvet/Develop/ws_frs_rov/install/share/argos_${t}_bringup/config/spe75_hw_node.yaml
            ;;
        *)
            echo "Error: Invalid type. Use 'rovins' or 'x'. Usage: robot_hmi rovins|x"
            return 1
            ;;
    esac

    export SYSTEM_TEMPERATURE_FILE=/sys/class/thermal/thermal_zone0/temp
    export SYSTEM_PRESSURE_FILE=/sys/class/thermal/thermal_zone0/temp
    export NODE_OPTIONS=--max_old_space_size=10000
    export DEVELOPER_MODE=true
    export HMI_AUTONOMY_TARGET_TOLERANCE_APPROXIMATED=0.2
    export HMI_AUTONOMY_TARGET_TOLERANCE_PRECISE=0.05
    export PATH_TO_TOOLS_NAMES_MAPPING=/home/gfalvet/Develop/ws_frs_rov/tools.json
    export PATH_TO_SOFTWARE_RELEASE_NAME=/home/gfalvet/Develop/ws_frs_rov/version_name
    export PATH_TO_SOFTWARE_RELEASE_DESCRIPTION=/home/gfalvet/Develop/ws_frs_rov/version_description
    export PATH_TO_SOFTWARE_RELEASE_DATE=/home/gfalvet/Develop/ws_frs_rov/version_date
    export PATH_TO_SOFTWARE_RELEASE_HMI_VERSION=/home/gfalvet/Develop/robot-hmi/package.json
    export PATH_TO_FLIGHT_RECORDER_FILES=/home/gfalvet/Develop/ws_frs_rov/snapshot
    export PATH_TO_FEATURES_CONFIG=/home/gfalvet/Develop/robot-hmi/featureFlagConfig.json
    export GAMEPAD_JOYSTICKS_THROTTLE_INTERVAL_MS=10
    cd /home/gfalvet/Develop/robot-hmi
    rm -rf dist .angular
    source_workspace
    print_hmi_env_info
    npx ng run robot-hmi:serve-ssr
 }

 navcam-evo-hmi() {
 	export SYSTEM_TEMPERATURE_FILE=/sys/class/thermal/thermal_zone0/temp
    export CPU_TEMPERATURE_FILE=/sys/devices/virtual/thermal/thermal_zone0/temp
    export GPU_TEMPERATURE_FILE=/sys/devices/virtual/thermal/thermal_zone1/temp
    export SYSTEM_PRESSURE_FILE=/sys/devices/virtual/thermal/thermal_zone1/temp
    export SYSTEM_HUMIDITY_FILE=/home/gfalvet/Develop/ws_vpvl_rov/humidity
 	export DEVELOPER_MODE=true
 	cd /home/gfalvet/Develop/navcam-evo-hmi
 	npm run dev:ssr
 }

 hmi_cleanup() {
    package_cleanup
    source_workspace
    npm i --verbose && npx generate-ros-messages
    echo "\033[32mHMI cleaned up and ready to go!\033[00m"
    print_node_version
 }

 argos_run_all_headless(){
    source_workspace
    rm -rf /tmp/*.yaml
    concurrently --names "controller,navigation,simulation" -c "bgBlue.bold,bgGreen.bold,bgMagenta.bold"\
    "ros2 launch argos_rovins_bringup bringup.launch.xml simulated:=true updated_params_path:=/tmp"\
    "ros2 run frs_navigation_bringup navigation_stack_node --ros-args -p use_sim_time:=true --params-file /home/gfalvet/Develop/ws_frs_rov/src/frs_navigation/frs_navigation_bringup/config/navigation.yaml" \
    "gz sim ocean_argos_rovins.world -s -r"
 }

 argos_x_run_all_headless(){
    source_workspace
    rm -rf /tmp/*.yaml
    concurrently --names "controller,navigation,simulation" -c "bgBlue.bold,bgGreen.bold,bgMagenta.bold"\
    "ros2 launch argos_x_bringup bringup.launch.xml simulated:=true updated_params_path:=/tmp"\
    "ros2 run frs_navigation_bringup navigation_stack_node --ros-args -p use_sim_time:=true --params-file /home/gfalvet/Develop/ws_frs_rov/src/frs_navigation/frs_navigation_bringup/config/navigation.yaml" \
    "gz sim ocean_argos_x.world -s -r"
 }

 ros_rov_controller() {
    source_workspace
    rm -rf /tmp/*.yaml
    local t=$1

    case "$t" in
        "rovins"|"x")
            ros2 launch argos_${t}_bringup bringup.launch.xml simulated:=true updated_params_path:=/tmp
            ;;
        *)
            echo "Error: Invalid type. Use 'rovins' or 'x'. Usage: ros_rov_controller rovins|x"
            return 1
            ;;
    esac
    echo "\033[33mrov_controller stopped.\033[00m"
 }

 ros_stack_navigation() {
    source_workspace
    ros2 run frs_navigation_bringup navigation_stack_node --ros-args -p use_sim_time:=true --params-file /home/gfalvet/Develop/ws_frs_rov/src/frs_navigation/frs_navigation_bringup/config/navigation.yaml
    echo "\033[33mstack_navigation stopped.\033[00m"
 }

 ros_buckley_cp_probe(){
    source_workspace
    # ros2 topic echo /cp_probe
    ros2 launch buckley_cp_probe test_launch.py mock:=true nmea_interface_name:=test_nmea_exporter_cp_probe
    echo "\033[33buckley_cp_probe stopped.\033[00m"
 }

 ros_nmea_interface(){
    source_workspace
    # nc -u -l 1234
    ros2 run nmea_interface nmea_exporter --ros-args -r __node:='nmea_exporter_test' -p nmea_ip_address:="127.0.0.1" -p nmea_port:=1234 -p data_format:='FRS,{heading:.2f},{roll:.2f},{pitch:.2f},{depth:.2f},{altimeter:.2f}'
    echo "\033[33margos_nmea stopped.\033[00m"
 }

 ros_behavior_stack(){
    source_workspace
    ros2 run frs_behavior_bringup behavior_stack_node --ros-args --params-file /home/gfalvet/Develop/ws_frs_rov/src/frs_behavior/frs_behavior_bringup/config/behavior.yaml -p use_sim_time:=true
    echo "\033[33mfrs_behavior_bringup stopped.\033[00m"
 }

 ros_bag(){
    source_workspace
    cd /home/gfalvet/Develop/ws_frs_rov/snapshot
    ros2 bag record --all --snapshot-mode
    # ros2 run frs_behavior_bringup behavior_stack_node --ros-args --params-file /home/gfalvet/Develop/ws_frs_rov/src/frs_behavior/frs_behavior_bringup/config/behavior.yaml -p use_sim_time:=true
 }

 ros_sim() {
    source_workspace
    local t=$1

    case "$t" in
        "rovins"|"x")
            gz sim ocean_argos_${t}.world
            ;;
        *)
            echo "Error: Invalid type. Use 'rovins' or 'x'. Usage: ros_sim rovins|x"
            return 1
            ;;
    esac

    echo "\033[33margos_sim stopped.\033[00m"
 }

 ros_foxglove() {
    source_workspace
    ros2 launch foxglove_bridge foxglove_bridge_launch.xml include_hidden:=true
    echo "\033[33mfoxglove stopped.\033[00m"
 }

 #  TODO make a function that takes robot model in parameter and returns the corresponding world file




 # --- Headless simulation --- #
 _ros_sim() {
    source_workspace
       i
    echo "\033[32mHEADLESS.\033[00m"
    gz sim ocean.world -s -r
    echo "\033[33margos_sim stopped.\033[00m"
 }

 ros_record() {
    source_workspace
    ros2 bag record -a --storage mcap
    echo "\033[33mros_record stopped.\033[00m"
 }

 ros_monitor() {
    cd /home/gfalvet/Develop/ws_frs_rov
    ros2 run diagnostic_aggregator aggregator_node --ros-args --params-file src/robots/argos/argos_robot/argos_common_bringup/config/diagnostic_aggregator.yaml -r diagnostics_agg:=/alarms -r diagnostics_toplevel_state:=/alarms_toplevel_state
    echo "\033[33mros_monitor stopped.\033[00m"
 }

 ros_alarm() {
    source_workspace
    ros2 topic echo /alarms
    echo "\033[33mros_alarm stopped.\033[00m"
 }

 remote_robot(){
    source_workspace
    export CYCLONEDDS_URI=file:////home/gfalvet/Develop/ws_frs_rov/cyclonedds_remote_config.xml
    export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 }

 # Function to create a formatted git commit message based on provided options
 #
 # This function takes in options such as type, scope, and message to generate a formatted git commit message.
 # It also provides the option for a dry run, where the commit command is displayed without actually committing.
 # The generated commit message follows a specific format: "<branch_name> <type> (<scope>): <message>"
 # If the scope is not provided, the commit message will only include the type.
 c() {
    # Function to parse the current git branch
    parse_git_branch() {
        git branch 2> /dev/null | sed -e '/^[^*]/d' -e 's/* \(.*\)/\1/'
    }

    # -h for help

    # must use double quotes
    blue_color="\033[34m"
    green_color="\033[32m"
    red_color="\033[31m"
    yellow_color="\033[33m"
    end_color="\033[00m"

    # Initialize variables
    local type=""
    local scope=""
    local message=""
    local concat=""
    local dry_run=0
    local OPTIND flag

    # Function to display help message
    show_help() {
        echo -e "${yellow_color}Usage: c -t \"type\" -s \"scope\" -m \"message\" [-d for dry run] [-h for help]${end_color}"
        echo -e ">> c -t \"feat\" -s \"HMI\" -m \"Your commit message here\""
        echo -e "[Result: if the branch name is Feature/ROB-999] git commit -m \"feat(HMI): ROB-999 Your commit message here\""
        echo -e "${green_color}Options:${end_color}"
        echo -e "  -t  Specify the type (required). Types are:"
        echo -e "      ${blue_color}feat${end_color}     - A new feature."
        echo -e "      ${blue_color}fix${end_color}      - A bug fix."
        echo -e "      ${blue_color}config${end_color}   - Config."
        echo -e "      ${blue_color}docs${end_color}     - Documentation only changes."
        echo -e "      ${blue_color}style${end_color}    - Changes that do not affect the meaning of the code (white-space, formatting, etc)."
        echo -e "      ${blue_color}refactor${end_color} - A code change that neither fixes a bug nor adds a feature."
        echo -e "      ${blue_color}test${end_color}     - Adding missing tests or correcting existing ones."
        echo -e "      ${blue_color}chore${end_color}    - Changes to the build process or auxiliary tools and libraries such as documentation generation."
        echo -e "      ${blue_color}perf${end_color}     - A code change that improves performance."
        echo -e "      ${blue_color}ci${end_color}       - Changes to your CI configuration files and scripts."
        echo -e "      ${blue_color}build${end_color}    - Changes that affect the build system or external dependencies (examples: gulp, broccoli, npm)."
        echo -e "      ${blue_color}temp${end_color}     - Temporary commit that won't be included in your CHANGELOG."
        echo -e "  -s  Specify the scope (optional)."
        echo -e "  -m  Specify the commit message (required)."
        echo -e "  -d  Perform a dry run without actual committing."
        echo -e "  -h  Display this help message. \n"
    }

    # Get options from the command line
    while getopts ":t:s:m:dh" flag; do
        case "${flag}" in
            t) type=${OPTARG} ;;
            s) scope=${OPTARG} ;;
            m) message=${OPTARG} ;;
            d) dry_run=1 ;;
            h) show_help; return 0 ;;
            \?) echo -e "${red_color}Invalid option: -$OPTARG ${end_color}" >&2; return 1 ;;
        esac
    done

    # Check for required arguments
    if [ -z "$type" ] || [ -z "$message" ]; then
        show_help
        return 1
    fi

    # current branch name
    local branch_name=$(parse_git_branch)

    # avoid commits on the develop branch
    if [ "$branch_name" = "develop" ]; then
        echo -e "$red_color"Commits to \'develop\' branch are not allowed with this script."$end_color"
        return 1
    fi

    # check if a branch name is available
    if [ -z "$branch_name" ]; then
        echo -e "$red_color"Not a Git repository or you are not on any branch."$end_color"
        return 1
    fi

    # Check if the branch name contains a slash
    if [[ "$branch_name" == *"/"* ]]; then
        branch_name="${branch_name#*/}"
    else
        echo "$yellow_color"The branch name does not contain a color. eg: feature/ROB-9999"$end_color"
    fi

    # Check if the scope is provided to change to (scope)
    if [ -n "$scope" ]; then
        concat="$type($scope)"
    else
        concat="$type"
    fi

    # format the commit message
    # c -t "feat" -m "test msg" -s "hmi"
    # git commit -m "ROB-1097 feat (hmi): test msg"
    local commit_message="$branch_name $concat: $message"


     # Dry run logic
    if [ $dry_run -eq 1 ]; then
        echo -e "${yellow_color}Dry run enabled. The commit command would be:${end_color}"
        echo "git commit -m \"$commit_message\""
    else
        echo -e "${green_color}GIT MESSAGE | git commit -m \"$commit_message\" | git commit --amend to edit it |${end_color}"
        # sudo apt-get install xclip
    # Check if xclip is available for copying to clipboard
        if command -v xclip >/dev/null 2>&1; then
            echo -e "$yellow_color"Copied to clipboard: git commit --amend"$end_color"
            echo "git commit --amend" | xclip
        else
            echo -e "$red_color"Error: xclip is not installed. Cannot copy to clipboard."$end_color"
            echo -e "$yellow_color"install xclip: sudo apt-get install xclip"$end_color"
        fi
        # Uncomment the following line to enable actual committing
        git commit -m "$commit_message"
    fi
 }

 # Example usage:
 # unpublish_modules -v 1.0.0 -l audiovisual
 # unpublish_modules -v 4.4.0 -l system
 um() {
    local version=""
    local lib=""
    local auto=false

    while getopts "v:l:a" opt; do
        case "$opt" in
            v) version=$OPTARG ;;
            l) lib=$OPTARG ;;
            a) auto=true ;;
            *) echo "Usage: $0 [-v <version>] [-l <lib>] [-a]" && return 1 ;;
        esac
    done

    if $auto; then
        if ! command -v jq >/dev/null 2>&1; then
            echo "Error: 'jq' is required but not installed." >&2
            return 1
        fi

        if [[ ! -f package.json ]]; then
            echo "Error: package.json not found in current directory." >&2
            return 1
        fi

        version=$(jq -r '.version' package.json)
        name=$(jq -r '.name' package.json)

        if [[ -z "$version" || "$version" == "null" || -z "$name" || "$name" == "null" ]]; then
            echo "Error: Failed to parse package.json" >&2
            return 1
        fi

        case "$name" in
            *audiovisual*) lib="audiovisual" ;;
            *system*) lib="system" ;;
            *common*) lib="common" ;;
            *camera*) lib="camera" ;;
            *style*) lib="style" ;;
            *slp*) lib="slp" ;;
            *control*) lib="control" ;;
            *proto*) lib="proto" ;;
            *localization*) lib="localization" ;;
            *)
                echo "Error: Could not infer library from package name: $name" >&2
                return 1
                ;;
        esac
    fi

    if [[ -z "$version" || -z "$lib" ]]; then
        echo "Error: Both version and library are required."
        echo "Usage: $0 [-v <version>] [-l <lib>] [-a]"
        return 1
    fi

    case "$lib" in
        audiovisual)
            npm unpublish @forssea_robotics/hmi-module-audiovisual@$version --force --registry http://localhost:4873
            npm unpublish @forssea_robotics/backend-module-audiovisual@$version --force --registry http://localhost:4873
            ;;
        system)
            npm unpublish @forssea_robotics/hmi-module-system-lib@$version --force --registry http://localhost:4873
            npm unpublish @forssea_robotics/backend-module-system-lib@$version --force --registry http://localhost:4873
            ;;
        common)
            npm unpublish @forssea_robotics/hmi-module-common@$version --force --registry http://localhost:4873
            npm unpublish @forssea_robotics/shared-module-common@$version --force --registry http://localhost:4873
            npm unpublish @forssea_robotics/backend-module-common@$version --force --registry http://localhost:4873
            ;;
        camera)
            npm unpublish @forssea_robotics/hmi-module-camera-control@$version --force --registry http://localhost:4873
            npm unpublish @forssea_robotics/backend-module-camera-control@$version --force --registry http://localhost:4873
            ;;
        style)
            npm unpublish @forssea_robotics/hmi-module-style-lib@$version --force --registry http://localhost:4873
            ;;
        slp)
            npm unpublish @forssea_robotics/slp-api-nodejs@$version --force --registry http://localhost:4873
            ;;
        control)
            npm unpublish @forssea_robotics/frs-control-node-addon-lib@$version --force --registry http://localhost:4873
            ;;
        proto)
            npm unpublish @forssea_robotics/frs-proto-apis@$version --force --registry http://localhost:4873
            ;;
        localization)
            npm unpublish @forssea_robotics/frs-localization-api-nodejs@$version --force --registry http://localhost:4873
            ;;
        *)
            echo "Error: Invalid library selected. Use one of: audiovisual, system, common, camera, style, slp, control, localization, proto"
            return 1
            ;;
    esac
 }



 boot_slpd(){
    sudo pkill slpd
    sudo slpd
 }

 flag_basic(){
    slptool -s LOCAL -i 127.0.0.1 register product.FORSSEA://127.0.0.1 "(x-serial-number=ROV_GUILLAUME),(x-product-line=rov),(x-product-type=argos),(x-name=argos),(x-hw-revision=v1.1),(x-hw-configuration=basic),(x-sw-version=release/emeraude),(x-sw-iteration=1),(x-sw-description=Nominal release build),(x-sw-date=2024-10-22 15:15:13)"
    config=$(slptool -s LOCAL findattrs product.FORSSEA | sort | uniq)
    echo "LOCAL SCOPE"
    echo "$config" | tr ',' '\n'
 }

 flag_rovins(){
    slptool -s LOCAL -i 127.0.0.1 register product.FORSSEA://127.0.0.1 "(x-serial-number=ROV_GUILLAUME),(x-product-line=rov),(x-product-type=argos),(x-name=argos),(x-hw-revision=v1.1),(x-hw-configuration=rovins),(x-sw-version=release/emeraude),(x-sw-iteration=1),(x-sw-description=Nominal release build),(x-sw-date=2024-10-22 15:15:13)"
    config=$(slptool -s LOCAL findattrs product.FORSSEA | sort | uniq)
    echo "LOCAL SCOPE"
    echo "$config" | tr ',' '\n'
 }

 flag_x(){
    slptool -s LOCAL -i 127.0.0.1 register product.FORSSEA://127.0.0.1 "(x-serial-number=ROV_GUILLAUME),(x-product-line=rov),(x-product-type=argos-x),(x-name=argos-raptor),(x-hw-revision=v1.1),(x-hw-configuration=rovins),(x-sw-version=release/emeraude),(x-sw-iteration=1),(x-sw-description=Nominal release build),(x-sw-date=2024-10-22 15:15:13)"
    config=$(slptool -s LOCAL findattrs product.FORSSEA | sort | uniq)
    echo "LOCAL SCOPE"
    echo "$config" | tr ',' '\n'
 }

 flag_psu(){
    slptool -s NETWORK -i 127.0.0.1 register product.FORSSEA://127.0.0.1 "(x-serial-number=PSU_ROV_GUILLAUME),(x-product-line=PSU),(x-product-type=edge-server),(x-grpc-web-port=5000)"
    config=$(slptool -s NETWORK findattrs product.FORSSEA | sort | uniq)
    echo "NETWORK SCOPE"
    echo "$config" | tr ',' '\n'
 }

 flag_psu_d() {
    slptool -s NETWORK -i 127.0.0.1 deregister product.FORSSEA://127.0.0.1
 }

 vpvl_api(){
    source_workspace_vpvl
    ros2 run visual_positioning_api api_server_node --ros-args -p address:="0.0.0.0";
 }

 vpvl_dataset(){
    source_workspace_vpvl
    ros2 launch visual_positioning_nodes visual_odometry.launch.py calibration_file_path:=~/datasets/default_testing_dataset/calib.yaml input_mode:=files;
 }
 # To customize prompt, run `p10k configure` or edit ~/.p10k.zsh.
 # [[ ! -f ~/.p10k.zsh ]] || source ~/.p10k.zsh

 PATH=~/.console-ninja/.bin:$PATH

 alias limit='export MAKEFLAGS="-j 4'

 # git config --global init.defaultBranch <name>
 export PATH=$PATH:/usr/local/bin:/usr/local/cuda/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
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