# Programmable completion for openrave under bash. Source this file 
# or add it to ~/.bash_completion or /etc/bash_completion.d
resource_types="json|dae|zae|xml|iv|vrml|wrl|stl|blend|3ds|ase|obj|ply|dxf|lwo|lxo|ac|ms3d|x|mesh.xml|irrmesh|irr|nff|off|raw|msgpack"

function _complete_openravepy {
    cur="${COMP_WORDS[COMP_CWORD]}"
    prev="${COMP_WORDS[COMP_CWORD-1]}"

    if [[ $COMP_CWORD -ge 2 ]]; then
        if [[ $COMP_CWORD == 2 ]]; then
            case ${COMP_WORDS[1]} in
                --listinterfaces)
                    opts="planner robot sensorsystem controller module inversekinematicssolver kinbody physicsengine sensor collisionchecker trajectory viewer spacesampler"
                    COMPREPLY=($(compgen -W "$opts" -- ${cur}))
                    return 0
                    ;;
                --example)
                    opts=`openrave@OPENRAVE_BIN_SUFFIX@.py --listexamples`
                    COMPREPLY=($(compgen -W "$opts" -- ${cur}))
                    return 0
                    ;;
                --database)
                    opts=`openrave@OPENRAVE_BIN_SUFFIX@.py --listdatabases`
                    COMPREPLY=($(compgen -W "$opts" -- ${cur}))
                    return 0
                    ;;
            esac
        else
            # just add in the xml and dae files, we don't have auto-completations for the examples/databases yet
            COMPREPLY=($(compgen -f -X "!*.+(${resource_types})" -- ${cur}))
            return 0
        fi
    fi

    case "${prev}" in
        --level|-l)
            opts="fatal error warn info debug verbose"
            COMPREPLY=($(compgen -W "$opts" -- ${cur}))
            return 0
            ;;
        --collision)
            opts=`openrave@OPENRAVE_BIN_SUFFIX@.py --listinterfaces collisionchecker`
            COMPREPLY=($(compgen -W "$opts" -- ${cur}))
            return 0
            ;;
        --viewer)
            opts=`openrave@OPENRAVE_BIN_SUFFIX@.py --listinterfaces viewer`
            COMPREPLY=($(compgen -W "$opts" -- ${cur}))
            return 0
            ;;
        --physics)
            opts=`openrave@OPENRAVE_BIN_SUFFIX@.py --listinterfaces physics`
            COMPREPLY=($(compgen -W "$opts" -- ${cur}))
            return 0
            ;;
        --loadplugin)
            COMPREPLY=($(compgen -f -X "!*.so" -- ${cur}))
            return 0
            ;;
        *)
            ;;
    esac

    # not processing a current option, so offer all the options again
    opts="--loadplugin --collision --physics --viewer --server --serverport --level --ipython --pythoncmd --listinterfaces --listplugins  --listdatabases --listexamples --help"
    if [[ $COMP_CWORD == 1 ]]; then
        # these options transfer the args to another program
        opts="$opts --database --example"
    fi
    COMPREPLY=($(compgen -W "$opts" -- ${cur}))
    if [[ ${cur} != -* ]] ; then
        # add in xml and dae and zae files
        COMPREPLY=($(compgen -f -X "!*.+(${resource_types})" -- ${cur}) ${COMPREPLY[@]})
    fi
}

function _complete_openrave_robotpy {
    cur="${COMP_WORDS[COMP_CWORD]}"
    prev="${COMP_WORDS[COMP_CWORD-1]}"

    case "${prev}" in
        --info)
            opts="manipulators sensors links joints"
            COMPREPLY=($(compgen -W "$opts" -- ${cur}))
            return 0
            ;;
        --list)
            opts="manipulators sensors links joints"
            COMPREPLY=($(compgen -W "$opts" -- ${cur}))
            return 0
            ;;
        --hash)
            opts="body kinematics robot"
            COMPREPLY=($(compgen -W "$opts" -- ${cur}))
            return 0
            ;;
        --manipname)
            COMP_WORDS2=("${COMP_WORDS[@]}")
            unset COMP_WORDS2[COMP_CWORD]
            unset COMP_WORDS2[COMP_CWORD-1]
            unset COMP_WORDS2[0]
            opts=`openrave0.3-robot.py ${COMP_WORDS2[@]} --list manipulators`
            COMPREPLY=($(compgen -W "$opts" -- ${cur}))
            return 0
            ;;
        --sensorname)
            COMP_WORDS2=("${COMP_WORDS[@]}")
            unset COMP_WORDS2[COMP_CWORD]
            unset COMP_WORDS2[COMP_CWORD-1]
            unset COMP_WORDS2[0]
            opts=`openrave0.3-robot.py ${COMP_WORDS2[@]} --list sensors`
            COMPREPLY=($(compgen -W "$opts" -- ${cur}))
            return 0
            ;;
        *)
            ;;
    esac

    # not processing a current option, so offer all the options again
    opts="--manipname --sensorname --hash --info --list --help"
    COMPREPLY=($(compgen -W "$opts" -- ${cur}))
    if [[ ${cur} != -* ]] ; then
        # add in xml and dae and zae files
        COMPREPLY=($(compgen -f -X "!*.+(${resource_types})" -- ${cur}) ${COMPREPLY[@]})
    fi
}

function _complete_openrave_createpluginpy {
    cur="${COMP_WORDS[COMP_CWORD]}"
    prev="${COMP_WORDS[COMP_CWORD-1]}"
    opts="--usecore --planner --robot --sensorsystem --controller --module --iksolver --kinbody --physicsengine --sensor --collisionchecker --trajectory --viewer --spacesampler --help"
    COMPREPLY=($(compgen -W "$opts" -- ${cur}))
}
complete -F "_complete_openravepy" -o filenames -o plusdirs "openrave.py"
complete -F "_complete_openrave_robotpy" -o filenames -o plusdirs "openrave-robot.py"
complete -F "_complete_openrave_createpluginpy" "openrave-createplugin.py"
complete -F "_complete_openravepy" -o filenames -o plusdirs "openrave@OPENRAVE_BIN_SUFFIX@.py"
complete -F "_complete_openrave_robotpy" -o filenames -o plusdirs "openrave@OPENRAVE_BIN_SUFFIX@-robot.py"
complete -F "_complete_openrave_createpluginpy" "openrave@OPENRAVE_BIN_SUFFIX@-createplugin.py"