#!/bin/bash
if [ $# -lt 1 ]; then
  echo "Usage: rosrun PACKAGE EXECUTABLE [ARGS]"
  echo "or: rosrun ABSOLUTE_FILENAME [ARGS]"
  echo "  rosrun will locate PACKAGE and try to find"
  echo "  an executable named EXECUTABLE in the PACKAGE tree."
  echo "  If it finds it, it will run it with ARGS."
  echo "  The second usage is only intended for shebang scripts."
  exit 1
fi
# if only one arg given to rosrun, or first arg is a path not a name,
# try running absolute filename check for second shebang line first,
# by checking whether first line is shebang and invokes rosrun
if [ $# -lt 2 ] || [[ $1 =~ [a-zA-Z0-9_-.]*/[a-zA-Z0-9_-./]* ]]; then
  if [ ! -e $1 ]; then
    echo "Cannot find file: " $1
    exit 1
  fi
  if [ ! -f $1 ]; then
    echo "Target is a directory: " $1
    exit 1
  fi
  if [ ! -x $1 ]; then
    echo "File is not executable: " $1
    exit 1
  fi

  numlines=0
  while read line
  do
    if [ $numlines = 0 ]; then
      firstline=$line
    fi;
    if [ $numlines = 1 ]; then
      secondline=$line
    fi;
    if [ $numlines = 2 ]; then 
        break
    fi;
    numlines=$(($numlines+1));
  done < $1

  # matches #! ...rosrun, which includes many invalid usages
  # TODO review and maybe make stricter
  if [[ $firstline =~ ^#![[:space:]]?[/a-zA-Z0-9._\s-]+[[:space:]]?rosrun$ ]]; 
  then
    # second shebang line has 2 arbitrary non-blank comment symbols,
    # that we cut off before invoking exec
    if [[ $secondline =~ ^.. ]]
    then
      command=${secondline:2}
      exec $command $*
    else
      echo "rosrun scripts require a second shebang line"
      exit 1        
    fi
  else
    # let bash handle file
    #TODO handle relative filenames, maybe? (not really necessary for script)
    exec $1
  fi
  exit 0
fi
pkgdir=`${ROS_ROOT}/bin/rospack find $1` || exit 2
# The -perm /mode usage is not available in find on the Mac
#exepathlist=(`find $pkgdir -name $2 -type f -perm /u+x,g+x,o+x`)
exepathlist=(`find -H $pkgdir -name $2 -type f  -perm +111 ! -regex ".*$pkgdir\/build\/.*"`)
if [[ ${#exepathlist[@]} == 0 ]] ; then
    echo "[rosrun] Couldn't find executable named $2 below $pkgdir"
    nonexepathlist=(`find -H $pkgdir -name $2`)
    if [[ ${#nonexepathlist[@]} != 0 ]] ; then
      echo "[rosrun] Found the following, but they're either not files, "
      echo "[rosrun] or not executable:"
      for p in ${nonexepathlist[@]}; do
        echo "[rosrun]   ${p}"
      done
    fi
    exit 3
elif [[ ${#exepathlist[@]} -gt 1 ]] ; then
    echo "[rosrun] You have chosen a non-unique executable, please pick one of the following:"
    select opt in ${exepathlist[@]}; do
        exepath=$opt
        break
    done
else
    exepath=${exepathlist[0]}
fi
shift
shift
exec $exepath "$@"