#!/bin/bash

bagdir_usb_cam="/data/camera-data"
bagdir_lidar="/data/camera_lidar_imu_data/First"
#bagdir_lidar="/data/camera_lidar_imu_data/Second"
#bagdir_lidar="/data/camera_lidar_imu_data/Thirth"
#bagdir_lidar="/data/camera_lidar_imu_data/Fourth"

if [ ! -d "$bagdir_usb_cam" ]; then
  mkdir -p $bagdir_usb_cam
fi

if [ ! -d "$bagdir_lidar" ]; then
  mkdir -p $bagdir_lidar
fi

# usb_cam
#flag=`ps -ef | grep rosbag | grep record | grep "/cam00/image_raw" | wc -l | awk '{printf("%d",$0)}'`
#if [ $flag == 0 ]; then
  #cd $bagdir_usb_cam
  #nohup rosbag record --split --duration=1m /cam00/image_raw /cam01/image_raw /cam02/image_raw  /cam03/image_raw >&/dev/null &
  #echo "rosbag record /cam00/image_raw /cam01/image_raw /cam02/image_raw /cam03/image_raw has been started successfully !!"
#else
  #echo "rosbag record /cam00/image_raw /cam01/image_raw /cam02/image_raw /cam03/image_raw has already been started !!"
#fi

# lidar_imu
flag=`ps -ef | grep rosbag | grep record | grep /velodyne_points | wc -l | awk '{printf("%d", $1)}'`
if [ $flag == 0 ]; then
  cd $bagdir_lidar
  nohup rosbag record --split --duration=1m /velodyne_points /imu_raw /cam00/image_raw /cam01/image_raw /cam02/image_raw  /cam03/image_raw  >&/dev/null &
  #nohup rosbag record  /velodyne_points  /velodyne_packets /imu_raw /cam00/image_raw /cam01/image_raw /cam02/image_raw  /cam03/image_raw >&/dev/null &
  echo "rosbag record /velodyne_points /imu_raw /cam00/image_raw /cam01/image_raw /cam02/image_raw  /cam03/image_raw has been started successfully !!"
else
  echo "rosbag record /velodyne_points /imu_raw /cam00/image_raw /cam01/image_raw /cam02/image_raw  /cam03/image_raw has already been started !!"
fi