From 86364e8e6390ad41848167d8553d95e9504bb0c5 Mon Sep 17 00:00:00 2001
From: Hilary Luo <hluo@clearpathrobotics.com>
Date: Sun, 14 Apr 2024 22:55:36 -0400
Subject: [PATCH] Remove IP Routing from script to set up discovery server on
 the user computer, no longer needed due to the republisher, includes
 file/service cleanup

---
 turtlebot4_discovery/configure_discovery.sh | 59 +++++++++++++++------
 turtlebot4_discovery/ip_route.service       | 12 -----
 turtlebot4_discovery/ip_route.sh            |  2 -
 3 files changed, 44 insertions(+), 29 deletions(-)
 delete mode 100644 turtlebot4_discovery/ip_route.service
 delete mode 100755 turtlebot4_discovery/ip_route.sh

diff --git a/turtlebot4_discovery/configure_discovery.sh b/turtlebot4_discovery/configure_discovery.sh
index 3685ae6..c306df4 100755
--- a/turtlebot4_discovery/configure_discovery.sh
+++ b/turtlebot4_discovery/configure_discovery.sh
@@ -1,6 +1,30 @@
 #!/bin/bash
 
-read -p "RPi4 IP address: " ip
+prompt_YESno() {
+  # as the user a Y/n question
+  # $1 is the variable into which the answer is saved as either "n" or "y"
+  # $2 is the question to ask
+
+  local __resultvar=$1
+  local __prompt=$2
+
+  echo -e "\e[39m$__prompt\e[0m"
+  echo "Y/n: "
+
+  if [[ $AUTO_YES == 1 ]];
+  then
+    echo "Automatically answering Yes"
+    eval $__resultvar="y"
+  else
+    read answer
+    if [[ $answer =~ ^[n,N].* ]];
+    then
+      eval $__resultvar="n"
+    else
+      eval $__resultvar="y"
+    fi
+  fi
+}
 
 read -p "Discovery Server IP [$ip]: " discovery_ip
 discovery_ip=${discovery_ip:-$ip}
@@ -22,29 +46,18 @@ done
 discovery_str="${discovery_str}${discovery_ip}:${discovery_port}"
 
 echo "Configuring:"
-echo " ip route add 192.168.186.0/24 via $ip";
 echo " ROS_DISCOVERY_SERVER=$discovery_str"
 echo " ROS_DOMAIN_ID=$domain_id"
 
-# Delete existing route if applicable
-if [ -f "/usr/local/sbin/ip_route.sh" ]; then
-   ip_add=$(grep -o 'ip [^"]*' /usr/local/sbin/ip_route.sh)
-   ip_del=$(echo $ip_add | sed "s/add/del/g")
-   echo $(sudo $ip_del)
-fi
-
 # Make directory to hold configs
 sudo mkdir -p /etc/turtlebot4_discovery/
 
 # Clone turtlebot4_setup and install files
 git clone -b humble https://github.com/turtlebot/turtlebot4_setup.git /tmp/turtlebot4_setup/ &> /dev/null
-sudo mv /tmp/turtlebot4_setup/turtlebot4_discovery/ip_route.sh /usr/local/sbin/
-sudo mv /tmp/turtlebot4_setup/turtlebot4_discovery/ip_route.service /etc/systemd/system/
 sudo mv /tmp/turtlebot4_setup/turtlebot4_discovery/setup.bash /etc/turtlebot4_discovery/
 rm /tmp/turtlebot4_setup/ -rf
 
 # Modify IP address
-sudo sed -i "s/10.42.0.1/$ip/g" /usr/local/sbin/ip_route.sh
 sudo sed -i "s/10.42.0.1:11811/$discovery_str/g" /etc/turtlebot4_discovery/setup.bash
 sudo sed -i "s/ROS_DOMAIN_ID=0/ROS_DOMAIN_ID=$domain_id/g" /etc/turtlebot4_discovery/setup.bash
 
@@ -54,8 +67,24 @@ then
     echo 'source /etc/turtlebot4_discovery/setup.bash' >> ~/.bashrc
 fi
 
-# Enable and start IP route service
-sudo systemctl enable ip_route.service
-sudo systemctl restart ip_route.service
+if [ -f "/usr/local/sbin/ip_route.sh" ]||[ -f "/etc/systemd/system/ip_route.service" ];
+then
+    prompt_YESno cleanup "\Would you like to clean up the outdated IP route? This is no longer required as of turtlebot4_robot version 1.0.3.\e[0m"
+    if [[ $cleanup == "y" ]];
+    then
+        # Delete existing route if applicable
+        if [ -f "/usr/local/sbin/ip_route.sh" ];
+        then
+            sudo rm /usr/local/sbin/ip_route.sh
+        fi
+        if [ -f "/etc/systemd/system/ip_route.service" ];
+        then
+            # Enable and start IP route service
+            sudo systemctl stop ip_route.service
+            sudo systemctl disable ip_route.service
+            sudo rm /etc/systemd/system/ip_route.service
+        fi
+    fi
+fi
 
 echo "Source your ~/.bashrc file to apply changes"
diff --git a/turtlebot4_discovery/ip_route.service b/turtlebot4_discovery/ip_route.service
deleted file mode 100644
index bc1f99e..0000000
--- a/turtlebot4_discovery/ip_route.service
+++ /dev/null
@@ -1,12 +0,0 @@
-Description=IP route service
-After=network.target
-StartLimitIntervalSec=0
-
-[Service]
-Type=simple
-Restart=on-failure
-RestartSec=5
-ExecStart=/bin/bash /usr/local/sbin/ip_route.sh
-
-[Install]
-WantedBy=multi-user.target
diff --git a/turtlebot4_discovery/ip_route.sh b/turtlebot4_discovery/ip_route.sh
deleted file mode 100755
index c26bbad..0000000
--- a/turtlebot4_discovery/ip_route.sh
+++ /dev/null
@@ -1,2 +0,0 @@
-#!/bin/bash
-ip route add 192.168.186.0/24 via 10.42.0.1
\ No newline at end of file