#!/usr/bin/env bash
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"

export RMW_IMPLEMENTATION=rmw_zenoh_cpp
export ZENOH_ROUTER_CHECK_ATTEMPTS=-1
export ZENOH_ROUTER_CONFIG_URI=${SCRIPT_DIR}/ROUTER_CONFIG.json5
export ZENOH_SESSION_CONFIG_URI=${SCRIPT_DIR}/SESSION_CONFIG.json5
export ROS_STATIC_PEERS=""

# This can be called to setup which routers to connect to.
# I.E. On my laptop I source this config. I want to connect to
# a robot with IP address 192.168.1.100
# I can call `zenoh_router_ip 192.168.1.100` and then I will talk to its
# router.
zenoh_router_ip() {
    local endpoints=()
    for ip in "$@"; do
        endpoints+=("'tcp/$ip:7447'")
    done
    local IFS=,
    export ZENOH_CONFIG_OVERRIDE="connect/endpoints=[${endpoints[*]}];"
}