From 700dcdc7bf50a834ebab2d3b58d89e59a7e27184 Mon Sep 17 00:00:00 2001
From: HOSOKAWA Ikuto <hosokawa.ikuto@gmail.com>
Date: Fri, 12 Mar 2021 11:36:55 +0900
Subject: [PATCH] added scripts for use_sim_time management (#183)

Co-authored-by: hosokawa <hosokawa@sng-3f-ros2-eval.l.sng.tier4.jp>
---
 ...dd_aw_ros2_use_sim_time_into_launch_xml.pl | 31 +++++++++++++++++++
 ...dd_aw_ros2_use_sim_time_into_launch_xml.sh | 21 +++++++++++++
 scripts/get_use_sim_time_all.sh               |  8 +++++
 3 files changed, 60 insertions(+)
 create mode 100755 scripts/add_aw_ros2_use_sim_time_into_launch_xml.pl
 create mode 100755 scripts/add_aw_ros2_use_sim_time_into_launch_xml.sh
 create mode 100755 scripts/get_use_sim_time_all.sh

diff --git a/scripts/add_aw_ros2_use_sim_time_into_launch_xml.pl b/scripts/add_aw_ros2_use_sim_time_into_launch_xml.pl
new file mode 100755
index 0000000000000..d37320ec806ff
--- /dev/null
+++ b/scripts/add_aw_ros2_use_sim_time_into_launch_xml.pl
@@ -0,0 +1,31 @@
+#!/usr/bin/perl
+
+$use_sim_time_str='<param name="use_sim_time" value="$(env AW_ROS2_USE_SIM_TIME false)"/>' . "\n";
+
+$out_line="";
+while(<>){
+	if(/^(\s*)<\s*node\s/){
+		$indent=$1;
+		$out_line = $indent . "  " . $use_sim_time_str;
+		if(/\/\s*>\s*$/){
+			$re_str = quotemeta($&);
+			~s/$re_str/ >\n/;
+			print;
+			$out_line = $out_line . $indent . "</node>\n";
+			print $out_line;
+			$out_line = "";
+		}else{
+			print;
+		}
+	}elsif($out_line ne ""){
+		if(/^\s*<\s*param\s*name.*use_sim_time.*AW_ROS2_USE_SIM_TIME/){
+			$out_line = "";
+		}elsif(/^\s*<\s*\/\s*node\s*>\s*$/){
+			print $out_line;
+			$out_line = "";
+		}
+		print;
+	}else{
+		print;
+	}
+}
diff --git a/scripts/add_aw_ros2_use_sim_time_into_launch_xml.sh b/scripts/add_aw_ros2_use_sim_time_into_launch_xml.sh
new file mode 100755
index 0000000000000..d259567c2b54c
--- /dev/null
+++ b/scripts/add_aw_ros2_use_sim_time_into_launch_xml.sh
@@ -0,0 +1,21 @@
+#!/bin/bash
+
+if [ -n "$1" ]; then
+	find_dir=$1
+else
+	echo "Usage: $0 <dir ('install' dir is recommended)>"
+	exit 0
+fi
+
+patch_script=$(dirname $(realpath $0))/$(basename $0 .sh).pl
+
+for xml in $(find $find_dir -type f | grep launch.xml$); do
+	echo "mv $xml ${xml}.org_tmp"
+	eval "mv $xml ${xml}.org_tmp"
+	echo "$patch_script ${xml}.org_tmp > $xml"
+	eval "$patch_script ${xml}.org_tmp > $xml"
+	echo "rm ${xml}.org_tmp"
+	eval "rm ${xml}.org_tmp"
+	echo ""
+done
+
diff --git a/scripts/get_use_sim_time_all.sh b/scripts/get_use_sim_time_all.sh
new file mode 100755
index 0000000000000..2b829656b1d7d
--- /dev/null
+++ b/scripts/get_use_sim_time_all.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+( for node in $(ros2 run topic_tools node_list |& grep \/ | perl -pe "~s/^[^\/]\//\//")
+#for node in $(ros2 param list|grep :)
+do
+	#n=$(dirname $node)/$(basename $node :)
+	#echo "$n: use_sim_time: $(ros2 param get $n use_sim_time)"
+	echo "$node: use_sim_time: $(ros2 param get $node use_sim_time)"
+done) |& grep \/