#!/bin/bash

bagdir_usb_cam="/data/camera-data"
bagdir_lidar="/data/lidar-data"
bagdir_imu="/data/imu-data"

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

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

if [ ! -d "$bagdir_imu" ]; then
  mkdir -p $bagdir_imu
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 /imu_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
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 >&/dev/null &
  echo "rosbag record /velodyne_points has been started successfully !!"
else
  echo "rosbag record /velodyne_points has already been started !!"
fi

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