srathi-monarch/.zshrc.local.zsh

## .zshrc.local.zsh
xmodmap -e "keysym Print = Menu" 2> /dev/null

# Setup Paths
export PATH="${PATH}:${HOME}/.local/bin:${HOME}/.cargo/bin"
export PATH=/usr/local/cuda-11.7/bin${PATH:+:${PATH}}
export LD_LIBRARY_PATH=/usr/local/cuda-11.7/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
# export LD_LIBRARY_PATH=/usr/local/cuda-11.7/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}:${HOME}/.local/opt/glibc/glibc232/lib
export PATH=$PATH:/home/srathi/.spicetify


# Setup History
# HISTFILE="$HOME/.zsh_history"
export HISTSIZE=10000000
export SAVEHIST=10000000
# setopt BANG_HIST                 # Treat the '!' character specially during expansion.
setopt EXTENDED_HISTORY       # Write the history file in the ":start:elapsed;command" format.
setopt INC_APPEND_HISTORY     # Write to the history file immediately, not when the shell exits.
setopt SHARE_HISTORY          # Share history between all sessions.
setopt HIST_EXPIRE_DUPS_FIRST # Expire duplicate entries first when trimming history.
setopt HIST_IGNORE_DUPS       # Don't record an entry that was just recorded again.
setopt HIST_IGNORE_ALL_DUPS   # Delete old recorded entry if new entry is a duplicate.
setopt HIST_FIND_NO_DUPS      # Do not display a line previously found.
setopt HIST_IGNORE_SPACE      # Don't record an entry starting with a space.
setopt HIST_SAVE_NO_DUPS      # Don't write duplicate entries in the history file.
setopt HIST_REDUCE_BLANKS     # Remove superfluous blanks before recording entry.
setopt HIST_VERIFY               # Don't execute immediately upon history expansion.


# Alias and options for some common tools
alias fgrep='grep -F'
alias dff='df -hT -x tmpfs -x devtmpfs -x squashfs'
alias tmux='tmux -f $HOME/.config/tmux.conf'
export LESS="-r --mouse --quit-if-one-screen"
alias bat=batcat
alias gtree="tree -I \"$(grep -hvE '^$|^#' {,$(git rev-parse --show-toplevel 2>/dev/null)/}.gitignore $(git rev-parse --show-toplevel 2>/dev/null)/.git/info/exclude 2>/dev/null |sed 's:/$::'|tr \\n '\|')\""
alias inhibit='systemd-inhibit --what=shutdown:sleep:idle:handle-power-key:handle-suspend-key:handle-hibernate-key:handle-lid-switch --mode=block'
alias ..='cd ../'
alias ...='cd ../../'
alias ....='cd ../../../'

alias als='aws s3 ls --human-readable --summarize'

# Useful functions
fk () { "$@" 2>/dev/null >/dev/null &! }  # Silently Fork off the process
compdef _command_names fk

mcd() { ( [[ -d "$@" ]] || mkdir "$@") && cd "$1" || exit }
compdef _mkdir mcd69:14

alias tclip='tmux show-buffer | xclip -selection clipboard'

# Run this after kernel upgrades or if opencv cuda is not working
alias fix_nvidia='sudo rmmod nvidia_uvm && sudo modprobe nvidia_uvm'


# See also: ix.io, curl.io, chunk.io or https://news.ycombinator.com/item?id=11322007
# transfer(){ if [ $# -eq 0 ];then echo "No arguments specified.\nUsage:\n transfer <file|directory>\n ... | transfer <file_name>">&2;return 1;fi;if tty -s;then file="$1";file_name=$(basename "$file");if [ ! -e "$file" ];then echo "$file: No such file or directory">&2;return 1;fi;if [ -d "$file" ];then file_name="$file_name.zip" ,;(cd "$file"&&zip -r -q - .)|curl --progress-bar --upload-file "-" "https://transfer.sh/$file_name"|tee /dev/null,;else cat "$file"|curl --progress-bar --upload-file "-" "https://transfer.sh/$file_name"|tee /dev/null;fi;else file_name=$1;curl --progress-bar --upload-file "-" "https://transfer.sh/$file_name"|tee /dev/null;fi;}

# VPN / Workstation / Tractor Related aliases
# alias is_vpn='networkctl 2>/dev/null | grep tun0'  # This seems to cause problems with the new cloudflare stuff. DO NOT RUN.
# alias vpn_ip="ip addr show tun0 | grep -Po '(?<=inet )[0-9]{1,3}\.[0-9]{1,3}\.[0-9]{1,3}\.[0-9]{1,3}(?=/)'"  # TODO: update for new cloudflare stuff
# alias workstation='sshpass -f ~/.ssh/pass_lol ssh $(is_vpn > /dev/null && echo -n "vpn_ws" || echo -n "ws")'
alias workstation='sshpass -f ~/.ssh/pass_lol ssh ws'

# Workstation and Tractor IP and Ports are moved to ~/.ssh/config
tssh() {
    nmcli con up 'suraj_rathi_san_jose_(ca)' > /dev/null 2>&1
    # xargs trims whitespace
    export LC_AWS_ACCESS_KEY_ID=$(grep -i aws_access_key_id ~/.aws/credentials | cut -d'=' -f 2 | xargs)
    export LC_AWS_SECRET_ACCESS_KEY=$(grep -i aws_secret_access_key ~/.aws/credentials | cut -d'=' -f 2 | xargs)
    export LC_SSH_KEY_PASSPHRASE=$(cat ~/.ssh/pass_tractor_key)
    # LC_AWS_DEFAULT_REGION=
    ssh -o "SendEnv LC_*" -t $@ '~/suraj_ws/.zdotdir/start_session.sh'
}

copy_keys_tractor() {
    set +m
    trap 'set -m' INT
    for target in $(grep -Po '^Host[[:space:]]+\Kn(1|2)[A-Za-z0-9\.]*$' ~/.ssh/config);
    do
      echo -n "${target} "
      {
        sshpass -f ~/.ssh/monarch_pass -- ssh-copy-id "${target}" &> /dev/null
        echo "${target}: Done $?"
      } &
    done
    echo
    wait
    set -m
}

gen_ssh_conf() {
  if [[ $# -lt 1 || $# -gt 2 ]]; then
    echo "Usage: ${0} <target> [--old]"
    echo "Target should be of the form x[1-4]<tractor_name>"
    echo "n1<tractor_name> should be in ~/.ssh/config"
    echo "You should run `copy_keys_tractor` once to copy your publickey to the n1s and n2s."
    return 1
  fi

  target=$1

   if [[ -a ~/.ssh/tractor_confs/"${target}" ]]; then
      echo "Config already exists"
      return 0
    fi

    # If the first two characters is not x{1-4} then error
    if [[ ! "${target:0:2}" =~ ^x[1-4]$ ]]; then
      echo "Invalid target"
      return 1
    fi

    dev="${target:0:2}"
    if [[ $2 == "--old" || $2 == "-o" ]]; then
      dev="${dev}old"
    fi
    tractor="${target:2:${#target}}"

    for n1 in $(grep -Po '^Host[[:space:]]+\Kn1[A-Za-z0-9\.]*$' ~/.ssh/config);
    do
      if [[ "${n1:2:${#n1}}" == "${tractor}" ]]; then

        if [[ ! -a ~/.ssh/tractor_keys/${tractor}/id_rsa || ! -a ~/.ssh/tractor_keys/${tractor}/id_rsa.pub ]]; then
          echo "Fetching keys"
          mkdir -p ~/.ssh/tractor_keys/"${tractor}"/ || { echo "Couldn't create keys directory for ${tractor}"; return 1 }
          chmod go-rwx ~/.ssh/tractor_keys/"${tractor}"/
          scp "${n1}":.ssh/{id_rsa,id_rsa.pub} ~/.ssh/tractor_keys/"${tractor}" || { echo "Couldn't copy keys for ${tractor}"; return 1 }
          echo "Copied keys for ${tractor}"
        fi

        echo "Trying to log into ${dev} via ${n1}"
	ssh-keygen -f ~/.ssh/known_hosts -R "${dev}"
        ssh -o StrictHostKeychecking=no -J "${n1}" -i "~/.ssh/tractor_keys/${tractor}/id_rsa" "${dev}" -- true || { echo "Could not ssh into ${dev}"; return 1 }
        echo "Login successful, generating conf file for ${target}"
        ssh -G -o StrictHostKeychecking=no -J "${n1}" -i "~/.ssh/tractor_keys/${tractor}/id_rsa" "${dev}" |
            grep -E '^hostname |^port |^user |^identityfile |^proxyjump |^stricthostkeychecking ' |
            awk "BEGIN {print \"Host ${target}\"} {print \"    \"\$0}" > ~/.ssh/tractor_confs/"${target}"
        # -o PreferredAuthentications=publickey -o StrictHostKeychecking=no
        # ssh -o StrictHostKeychecking=no -J "${n1}" -i "~/.ssh/tractor_keys/${tractor}/id_rsa" "${dev}"
        echo "Successfully created ~/.ssh/tractor_confs/${target}"
        echo "You may now run \`ssh ${target}\`"
        return 0
      fi
    done

    echo "Could not find an n1 for ${tractor}"
    echo -n "Available tractors are: "
    grep -Po '^Host[[:space:]]+\Kn1[A-Za-z0-9\.]*$' ~/.ssh/config | tr '\n' ' '
    echo
}

atssh() {
  # ssh's into any device on a tractor who's n1 is in ssh config
  # This loads the basic bash shell
  # The n1's IdentityFile should be set in ~/.ssh/config
  # We use the n1's IdentityFile to ssh into the the target device

  if [[ $# -lt 1 || $# -gt 2 ]]; then
    echo "Usage: ${0} <target> [--old]"
    echo "Target should be of the form (n[1-2]|x[1-4])<tractor_name>"
    echo "Omitting the tractor_name implies that you are on a tractor network."
    echo "Both n1<tractor_name> and optionally n2<tractor_name> should be in ~/.ssh/config"
    echo "You should run `copy_keys_tractor` once to copy your publickey to the n1s and n2s."
    return 1
  fi

  target=$1

  if [[ ${#target} -lt 2 ]]; then
    echo "Invalid target"
    return 1
  fi

  if [[ -a ~/.ssh/tractor_confs/"${target}" ]]; then
    ssh ${target}
    return $?
  fi

  if [[ "${target:0:2}" =~ ^n[1-2]$ ]]; then
    # When do we do tssh?
    # Can we automate installing our tssh over here?
    ssh -o StrictHostKeychecking=no ${target}
    return 1
  fi

  # If the first two characters is not x{1-4} then error
  if [[ ! "${target:0:2}" =~ ^x[1-4]$ ]]; then
    echo "Invalid target"
    return 1
  fi

  dev="${target:0:2}"
  if [[ $2 == "--old" || $2 == "-o" ]]; then
    dev="${dev}old"
  fi
  tractor="${target:2:${#target}}"

  for n1 in $(grep -Po '^Host[[:space:]]+\Kn1[A-Za-z0-9\.]*$' ~/.ssh/config);
  do
    if [[ "${n1:2:${#n1}}" == "${tractor}" ]]; then

      if [[ ! -a ~/.ssh/tractor_keys/${tractor}/id_rsa || ! -a ~/.ssh/tractor_keys/${tractor}/id_rsa.pub ]]; then
        echo "Fetching keys"
        mkdir -p ~/.ssh/tractor_keys/"${tractor}"/ || { echo "Couldn't create keys directory for ${tractor}"; return 1 }
        chmod go-rwx ~/.ssh/tractor_keys/"${tractor}"/
        scp "${n1}":.ssh/{id_rsa,id_rsa.pub} ~/.ssh/tractor_keys/"${tractor}" || { echo "Couldn't copy keys for ${tractor}"; return 1 }
        echo "Copied keys for ${tractor}"
      fi

      ssh -o StrictHostKeychecking=no -J "${n1}" -i "~/.ssh/tractor_keys/${tractor}/id_rsa" "${dev}" -- true || { echo "Could not ssh into ${dev}"; return 1 }
      ssh -G -o StrictHostKeychecking=no -J "${n1}" -i "~/.ssh/tractor_keys/${tractor}/id_rsa" "${dev}" |
          grep -E '^hostname |^port |^user |^identityfile |^proxyjump |^stricthostkeychecking ' |
          awk "BEGIN {print \"Host ${target}\"} {print \"    \"\$0}" > ~/.ssh/tractor_confs/"${target}"
      # -o PreferredAuthentications=publickey -o StrictHostKeychecking=no
      atssh ${target}
      # ssh -o StrictHostKeychecking=no -J "${n1}" -i "~/.ssh/tractor_keys/${tractor}/id_rsa" "${dev}"
      return $?
    fi
  done

  echo "Could not find an n1 for ${tractor}"
  echo -n "Available tractors are: "
  grep -Po '^Host[[:space:]]+\Kn1[A-Za-z0-9\.]*$' ~/.ssh/config | tr '\n' ' '
  echo
}

# Alias and functions to eaily run clion and pycharm on directories and ROS packages
ide_wrapper() {
    [[ $# -lt 1 ]] && return 1
    ide_cmd=$1
    shift
    FORCE=0
    DIRNAME="./"
    while [[ $# -gt 0 ]]; do
        case $1 in
            -f|--force)
                FORCE=1
                shift
                ;;
            *)
                DIRNAME=$1
                shift
                ;;
        esac
    done

    roscd $DIRNAME 2>&1 > /dev/null || cd $DIRNAME || return 1

   ( [ -d ./.idea ] || [ $FORCE -gt 0 ] ) && eval "$ide_cmd" ./ || echo "No existing ide directory here, run as \"${funcstack[0]} -f\" to force creation."

    cd - > /dev/null
}

# alias pycharm="fk ${HOME}/.local/share/JetBrains/Toolbox/apps/pycharm-community/bin/pycharm.sh"
alias pycharm="fk ${HOME}/.local/share/JetBrains/Toolbox/apps/pycharm-professional/bin/pycharm.sh"
alias clion="fk ${HOME}/.local/share/JetBrains/Toolbox/apps/clion/bin/clion.sh"
alias nova="fk ${HOME}/.local/share/JetBrains/Toolbox/apps/clion-nova/bin/clion.sh"

cc() { ide_wrapper clion $@ }
pp() { ide_wrapper pycharm $@ }
nn() { ide_wrapper nova $@ }


apt-history () {
      case "$1" in
        install)
              cat /var/log/dpkg.log | grep 'install '
              ;;
        upgrade|remove)
              cat /var/log/dpkg.log | grep $1
              ;;
        rollback)
              cat /var/log/dpkg.log | grep upgrade | \
                  grep "$2" -A10000000 | \
                  grep "$3" -B10000000 | \
                  awk '{print $4"="$5}'
              ;;
        *)
              cat /var/log/dpkg.log
              ;;
      esac
}


# Setup ROS
export ROSCONSOLE_FORMAT='[${severity} ${time:%H:%M.%S}] ${node}: ${message}'  # Second precision:
# export ROSCONSOLE_FORMAT='[${severity} ${time}] ${node}: ${message}'  # Subsecond precision:
export ROSCONSOLE_CONFIG_FILE="${HOME}/.config/rosconsole.config"

alias catkin_build="catkin build"

export ROS_MASTER_URI="http://localhost:11311"
export ROS_HOSTNAME="localhost"


# Workspace Tools
compile_cmds_catkin_build() {  # I think this exists in cc_setup.zsh, why is this here?
    catkin build "$@"
    cat $ROS_WS_DIR/.catkin_tools/CATKIN_BUILD_DUMMY.json $ROS_WS_DIR/build/*/compile_commands.json(N) $ROS_WS_DIR/.catkin_tools/CATKIN_BUILD_DUMMY.json | sed 's:\]\[:,:' > "${ROS_WS_DIR}/src/${CATKIN_PROFILE}/compile_commands.json"
}

source_ws() {  # Isn't this all part of cc_setup.zsh now? Or should we replace that with the source_ws command. That will centralize that.
    catkin locate | read -r WS_HOME && export ROS_WS_DIR="${WS_HOME}"

    echo -ne "[\n]" > $ROS_WS_DIR/.catkin_tools/CATKIN_BUILD_DUMMY.json

    alias catkin_build=compile_cmds_catkin_build

    [ -f "${WS_HOME}/cc_setup.zsh" ] && source  "${ROS_WS_DIR}/cc_setup.zsh" || source "${ROS_WS_DIR}/devel/setup.zsh"
}

DEFAULT_WS="$HOME/ws"
ws() {cd "${1:-$DEFAULT_WS}" && source_ws}

roswd() {roscd "$@" && pwd}


# Source Required WSs
source /opt/ros/noetic/setup.zsh
source ~/.local/opt/zed_noetic/setup.zsh


# FZF Tabcomplete, ZSH Autosuggestions, and ZSH syntax highlighting
# Installation Instructions:
# sudo apt install zsh fzf zsh-autosuggestions zsh-syntax-highlighting
# wget -O ~/.zshrc https://git.grml.org/f/grml-etc-core/etc/zsh/zshrc
# wget 'https://raw.githubusercontent.com/lincheney/fzf-tab-completion/master/zsh/fzf-zsh-completion.sh' -P ~/.local/share

source /usr/share/zsh-autosuggestions/zsh-autosuggestions.zsh
export FZF_DEFAULT_OPTS="--reverse"
source /usr/share/doc/fzf/examples/key-bindings.zsh
source /usr/share/doc/fzf/examples/completion.zsh

source ~/.local/share/fzf-zsh-completion.sh # Breaks ROS Completion, run togcomp to turn it off for ROS

# toggle fzf complete to allow ROS autocompletion
togcomp() {
  if [ "${fzf_default_completion}" = "fzf_completion" ]; then
    export fzf_default_completion=expand-or-complete
    echo "fzf tab disabled"
  else
    export fzf_default_completion=fzf_completion
    echo "fzf tab renabled"
  fi
}

source /usr/share/zsh-syntax-highlighting/zsh-syntax-highlighting.zsh


## tmux.conf
# Filename:      /etc/tmux
# Purpose:       configuration file for tmux
# Authors:       grml-team (grml.org), (c) Michael Prokop <mika at grml.org>,
#                Sebastian Boehm <sebastian at sometimesfood.org>
#                Bernhard Tittelbach <xro at realraum.at>
# Bug-Reports:   see http://grml.org/bugs/
# License:       This file is licensed under the GPL v2.
################################################################################

### screen-like keybindings
unbind C-b
set -g prefix C-a
bind-key a send-prefix
bind-key C-a last-window
unbind space
bind-key space next-window
bind-key C-space next-window
bind-key K confirm-before kill-pane
bind-key '\' confirm-before kill-session
#bind-key C-h previous-window

### join the last active pane to the currently active window
bind-key j join-pane -s !

### join the marked pane to the currently active window
### ('bind-key m select-pane -m' is default to mark the current pane)
bind-key J join-pane

### Move current window to session named "bg" (and create session if it does not exist)
bind-key B if-shell "! tmux has-session -t bg" "new-session -d -s bg" \; move-window -t bg

### Reload Config
if-shell "! (env | grep -q TMUX=/tmp/tmate)" \
  "bind-key R source-file ~/.tmux.conf \\; source-file -q ~/.tmux.conf.local \\; display-message '~/.tmux.conf[.local] reloaded'"

###rebind keys
bind-key h next-layout
bind-key BSpace previous-window

bind-key tab select-pane -t :.+
### useful custom keybindings
bind-key | command-prompt -p "exec:" "split-window -h '%%'"
bind-key - command-prompt -p "exec:" "split-window -v '%%'"

### misc options
set -s escape-time 0
set -g default-terminal "screen-256color"
set -g display-panes-time 3000
set -g visual-activity on
set -g mode-keys vi

### set status line appearance
set -g status-style fg=white,bg=black

set -g status-left-length 28
### status-left:  @hostname:sessionname
set -g status-left "#[fg=white]@#h#[fg=red]:#S#[fg=white] |"
### status-left:  username@hostname:sessionname
#set -g status-left "#[fg=blue]#(echo ${USER})#[fg=white]@#h#[fg=red]:#S#[fg=white] |"

### status-right: Date and Time
set -g status-right-length 16
set -g status-right '#[fg=yellow]%Y-%m-%d %H:%M'
### status-right: Time
#set -g status-right-length 6
#set -g status-right "#[fg=yellow]%H:%M"

set-window-option -g window-status-style fg=blue,bg=black
set-window-option -g window-status-current-style bold

### source user-specific local configuration file
if-shell "! (env | grep -q TMUX=/tmp/tmate)" \
  "source-file -q ~/.config/tmux.conf.local"


## tmux.conf.local
# Enable true color
set -sa terminal-overrides ",xterm-256color:Tc"

unbind C-a
set-option -g prefix C-x
bind-key C-b send-keys C-b
bind-key C-x send-prefix
bind-key -n C-b send-prefix

set -g mouse
bind-key V split-window -h  # h
bind-key v split-window -v
bind-key N new-window

bind PageUp copy-mode -eu
bind C-S run "tmux save-buffer - | xclip -selection clipboard"

bind Q confirm-before -p "kill-session #S? (y/n)" kill-session

set -g base-index 1


## z.gitconfig
[user]
	name = Suraj
	email = srathi@monarchtractor.com
	signingkey = D2C996AB7423059E
[core]
	editor = vim
	autocrlf = input
[init]
	defaultbranch = master
[alias]
	lg = lg1
	lg1 = log --graph --abbrev-commit --decorate --format=format:'%C(bold blue)%h%C(reset) - %C(bold green)(%ar)%C(reset) %C(white)%s%C(reset) %C(dim white)- %an%C(reset)%C(auto)%d%C(reset)' --all
	lg2 = log --graph --abbrev-commit --decorate --format=format:'%C(bold blue)%h%C(reset) - %C(bold cyan)%aD%C(reset) %C(bold green)(%ar)%C(reset)%C(auto)%d%C(reset)%n''          %C(white)%s%C(reset) %C(dim white)- %an%C(reset)'
[commit]
	gpgsign = true
[rerere]
	enabled = true
[branch]
	sort = -committerdate
[diff]
	submodule = log
	mnemonicprefix = true

[url "ssh://git@github.com/"]
	insteadof = https://github.com/

[url "ssh://git@github.com"]
	insteadof = gh:

[url "https://aur.archlinux.org/"]
	insteadof = aur:
[pull]
	ff = only
[merge]
	conflictstyle = diff3
	tool = meld
[push]
	default = current
[status]
	submodulesummary = true
[submodule]
	recurse = true
	xmodmap -e "keysym Print = Menu" 2> /dev/null

	# Setup Paths
	export PATH="${PATH}:${HOME}/.local/bin:${HOME}/.cargo/bin"
	export PATH=/usr/local/cuda-11.7/bin${PATH:+:${PATH}}
	export LD_LIBRARY_PATH=/usr/local/cuda-11.7/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
	# export LD_LIBRARY_PATH=/usr/local/cuda-11.7/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}:${HOME}/.local/opt/glibc/glibc232/lib
	export PATH=$PATH:/home/srathi/.spicetify


	# Setup History
	# HISTFILE="$HOME/.zsh_history"
	export HISTSIZE=10000000
	export SAVEHIST=10000000
	# setopt BANG_HIST # Treat the '!' character specially during expansion.
	setopt EXTENDED_HISTORY # Write the history file in the ":start:elapsed;command" format.
	setopt INC_APPEND_HISTORY # Write to the history file immediately, not when the shell exits.
	setopt SHARE_HISTORY # Share history between all sessions.
	setopt HIST_EXPIRE_DUPS_FIRST # Expire duplicate entries first when trimming history.
	setopt HIST_IGNORE_DUPS # Don't record an entry that was just recorded again.
	setopt HIST_IGNORE_ALL_DUPS # Delete old recorded entry if new entry is a duplicate.
	setopt HIST_FIND_NO_DUPS # Do not display a line previously found.
	setopt HIST_IGNORE_SPACE # Don't record an entry starting with a space.
	setopt HIST_SAVE_NO_DUPS # Don't write duplicate entries in the history file.
	setopt HIST_REDUCE_BLANKS # Remove superfluous blanks before recording entry.
	setopt HIST_VERIFY # Don't execute immediately upon history expansion.


	# Alias and options for some common tools
	alias fgrep='grep -F'
	alias dff='df -hT -x tmpfs -x devtmpfs -x squashfs'
	alias tmux='tmux -f $HOME/.config/tmux.conf'
	export LESS="-r --mouse --quit-if-one-screen"
	alias bat=batcat
	alias gtree="tree -I \"$(grep -hvE '^$\|^#' {,$(git rev-parse --show-toplevel 2>/dev/null)/}.gitignore $(git rev-parse --show-toplevel 2>/dev/null)/.git/info/exclude 2>/dev/null \|sed 's:/$::'\|tr \\n '\\|')\""
	alias inhibit='systemd-inhibit --what=shutdown:sleep:idle:handle-power-key:handle-suspend-key:handle-hibernate-key:handle-lid-switch --mode=block'
	alias ..='cd ../'
	alias ...='cd ../../'
	alias ....='cd ../../../'

	alias als='aws s3 ls --human-readable --summarize'

	# Useful functions
	fk () { "$@" 2>/dev/null >/dev/null &! } # Silently Fork off the process
	compdef _command_names fk

	mcd() { ( [[ -d "$@" ]] \|\| mkdir "$@") && cd "$1" \|\| exit }
	compdef _mkdir mcd69:14

	alias tclip='tmux show-buffer \| xclip -selection clipboard'

	# Run this after kernel upgrades or if opencv cuda is not working
	alias fix_nvidia='sudo rmmod nvidia_uvm && sudo modprobe nvidia_uvm'


	# See also: ix.io, curl.io, chunk.io or https://news.ycombinator.com/item?id=11322007
	# transfer(){ if [ $# -eq 0 ];then echo "No arguments specified.\nUsage:\n transfer <file\|directory>\n ... \| transfer <file_name>">&2;return 1;fi;if tty -s;then file="$1";file_name=$(basename "$file");if [ ! -e "$file" ];then echo "$file: No such file or directory">&2;return 1;fi;if [ -d "$file" ];then file_name="$file_name.zip" ,;(cd "$file"&&zip -r -q - .)\|curl --progress-bar --upload-file "-" "https://transfer.sh/$file_name"\|tee /dev/null,;else cat "$file"\|curl --progress-bar --upload-file "-" "https://transfer.sh/$file_name"\|tee /dev/null;fi;else file_name=$1;curl --progress-bar --upload-file "-" "https://transfer.sh/$file_name"\|tee /dev/null;fi;}

	# VPN / Workstation / Tractor Related aliases
	# alias is_vpn='networkctl 2>/dev/null \| grep tun0' # This seems to cause problems with the new cloudflare stuff. DO NOT RUN.
	# alias vpn_ip="ip addr show tun0 \| grep -Po '(?<=inet )[0-9]{1,3}\.[0-9]{1,3}\.[0-9]{1,3}\.[0-9]{1,3}(?=/)'" # TODO: update for new cloudflare stuff
	# alias workstation='sshpass -f ~/.ssh/pass_lol ssh $(is_vpn > /dev/null && echo -n "vpn_ws" \|\| echo -n "ws")'
	alias workstation='sshpass -f ~/.ssh/pass_lol ssh ws'

	# Workstation and Tractor IP and Ports are moved to ~/.ssh/config
	tssh() {
	nmcli con up 'suraj_rathi_san_jose_(ca)' > /dev/null 2>&1
	# xargs trims whitespace
	export LC_AWS_ACCESS_KEY_ID=$(grep -i aws_access_key_id ~/.aws/credentials \| cut -d'=' -f 2 \| xargs)
	export LC_AWS_SECRET_ACCESS_KEY=$(grep -i aws_secret_access_key ~/.aws/credentials \| cut -d'=' -f 2 \| xargs)
	export LC_SSH_KEY_PASSPHRASE=$(cat ~/.ssh/pass_tractor_key)
	# LC_AWS_DEFAULT_REGION=
	ssh -o "SendEnv LC_*" -t $@ '~/suraj_ws/.zdotdir/start_session.sh'
	}

	copy_keys_tractor() {
	set +m
	trap 'set -m' INT
	for target in $(grep -Po '^Host[[:space:]]+\Kn(1\|2)[A-Za-z0-9\.]*$' ~/.ssh/config);
	do
	echo -n "${target} "
	{
	sshpass -f ~/.ssh/monarch_pass -- ssh-copy-id "${target}" &> /dev/null
	echo "${target}: Done $?"
	} &
	done
	echo
	wait
	set -m
	}

	gen_ssh_conf() {
	if [[ $# -lt 1 \|\| $# -gt 2 ]]; then
	echo "Usage: ${0} <target> [--old]"
	echo "Target should be of the form x[1-4]<tractor_name>"
	echo "n1<tractor_name> should be in ~/.ssh/config"
	echo "You should run `copy_keys_tractor` once to copy your publickey to the n1s and n2s."
	return 1
	fi

	target=$1

	if [[ -a ~/.ssh/tractor_confs/"${target}" ]]; then
	echo "Config already exists"
	return 0
	fi

	# If the first two characters is not x{1-4} then error
	if [[ ! "${target:0:2}" =~ ^x[1-4]$ ]]; then
	echo "Invalid target"
	return 1
	fi

	dev="${target:0:2}"
	if [[ $2 == "--old" \|\| $2 == "-o" ]]; then
	dev="${dev}old"
	fi
	tractor="${target:2:${#target}}"

	for n1 in $(grep -Po '^Host[[:space:]]+\Kn1[A-Za-z0-9\.]*$' ~/.ssh/config);
	do
	if [[ "${n1:2:${#n1}}" == "${tractor}" ]]; then

	if [[ ! -a ~/.ssh/tractor_keys/${tractor}/id_rsa \|\| ! -a ~/.ssh/tractor_keys/${tractor}/id_rsa.pub ]]; then
	echo "Fetching keys"
	mkdir -p ~/.ssh/tractor_keys/"${tractor}"/ \|\| { echo "Couldn't create keys directory for ${tractor}"; return 1 }
	chmod go-rwx ~/.ssh/tractor_keys/"${tractor}"/
	scp "${n1}":.ssh/{id_rsa,id_rsa.pub} ~/.ssh/tractor_keys/"${tractor}" \|\| { echo "Couldn't copy keys for ${tractor}"; return 1 }
	echo "Copied keys for ${tractor}"
	fi

	echo "Trying to log into ${dev} via ${n1}"
	ssh-keygen -f ~/.ssh/known_hosts -R "${dev}"
	ssh -o StrictHostKeychecking=no -J "${n1}" -i "~/.ssh/tractor_keys/${tractor}/id_rsa" "${dev}" -- true \|\| { echo "Could not ssh into ${dev}"; return 1 }
	echo "Login successful, generating conf file for ${target}"
	ssh -G -o StrictHostKeychecking=no -J "${n1}" -i "~/.ssh/tractor_keys/${tractor}/id_rsa" "${dev}" \|
	grep -E '^hostname \|^port \|^user \|^identityfile \|^proxyjump \|^stricthostkeychecking ' \|
	awk "BEGIN {print \"Host ${target}\"} {print \" \"\$0}" > ~/.ssh/tractor_confs/"${target}"
	# -o PreferredAuthentications=publickey -o StrictHostKeychecking=no
	# ssh -o StrictHostKeychecking=no -J "${n1}" -i "~/.ssh/tractor_keys/${tractor}/id_rsa" "${dev}"
	echo "Successfully created ~/.ssh/tractor_confs/${target}"
	echo "You may now run \`ssh ${target}\`"
	return 0
	fi
	done

	echo "Could not find an n1 for ${tractor}"
	echo -n "Available tractors are: "
	grep -Po '^Host[[:space:]]+\Kn1[A-Za-z0-9\.]*$' ~/.ssh/config \| tr '\n' ' '
	echo
	}

	atssh() {
	# ssh's into any device on a tractor who's n1 is in ssh config
	# This loads the basic bash shell
	# The n1's IdentityFile should be set in ~/.ssh/config
	# We use the n1's IdentityFile to ssh into the the target device

	if [[ $# -lt 1 \|\| $# -gt 2 ]]; then
	echo "Usage: ${0} <target> [--old]"
	echo "Target should be of the form (n[1-2]\|x[1-4])<tractor_name>"
	echo "Omitting the tractor_name implies that you are on a tractor network."
	echo "Both n1<tractor_name> and optionally n2<tractor_name> should be in ~/.ssh/config"
	echo "You should run `copy_keys_tractor` once to copy your publickey to the n1s and n2s."
	return 1
	fi

	target=$1

	if [[ ${#target} -lt 2 ]]; then
	echo "Invalid target"
	return 1
	fi

	if [[ -a ~/.ssh/tractor_confs/"${target}" ]]; then
	ssh ${target}
	return $?
	fi

	if [[ "${target:0:2}" =~ ^n[1-2]$ ]]; then
	# When do we do tssh?
	# Can we automate installing our tssh over here?
	ssh -o StrictHostKeychecking=no ${target}
	return 1
	fi

	# If the first two characters is not x{1-4} then error
	if [[ ! "${target:0:2}" =~ ^x[1-4]$ ]]; then
	echo "Invalid target"
	return 1
	fi

	dev="${target:0:2}"
	if [[ $2 == "--old" \|\| $2 == "-o" ]]; then
	dev="${dev}old"
	fi
	tractor="${target:2:${#target}}"

	for n1 in $(grep -Po '^Host[[:space:]]+\Kn1[A-Za-z0-9\.]*$' ~/.ssh/config);
	do
	if [[ "${n1:2:${#n1}}" == "${tractor}" ]]; then

	if [[ ! -a ~/.ssh/tractor_keys/${tractor}/id_rsa \|\| ! -a ~/.ssh/tractor_keys/${tractor}/id_rsa.pub ]]; then
	echo "Fetching keys"
	mkdir -p ~/.ssh/tractor_keys/"${tractor}"/ \|\| { echo "Couldn't create keys directory for ${tractor}"; return 1 }
	chmod go-rwx ~/.ssh/tractor_keys/"${tractor}"/
	scp "${n1}":.ssh/{id_rsa,id_rsa.pub} ~/.ssh/tractor_keys/"${tractor}" \|\| { echo "Couldn't copy keys for ${tractor}"; return 1 }
	echo "Copied keys for ${tractor}"
	fi

	ssh -o StrictHostKeychecking=no -J "${n1}" -i "~/.ssh/tractor_keys/${tractor}/id_rsa" "${dev}" -- true \|\| { echo "Could not ssh into ${dev}"; return 1 }
	ssh -G -o StrictHostKeychecking=no -J "${n1}" -i "~/.ssh/tractor_keys/${tractor}/id_rsa" "${dev}" \|
	grep -E '^hostname \|^port \|^user \|^identityfile \|^proxyjump \|^stricthostkeychecking ' \|
	awk "BEGIN {print \"Host ${target}\"} {print \" \"\$0}" > ~/.ssh/tractor_confs/"${target}"
	# -o PreferredAuthentications=publickey -o StrictHostKeychecking=no
	atssh ${target}
	# ssh -o StrictHostKeychecking=no -J "${n1}" -i "~/.ssh/tractor_keys/${tractor}/id_rsa" "${dev}"
	return $?
	fi
	done

	echo "Could not find an n1 for ${tractor}"
	echo -n "Available tractors are: "
	grep -Po '^Host[[:space:]]+\Kn1[A-Za-z0-9\.]*$' ~/.ssh/config \| tr '\n' ' '
	echo
	}

	# Alias and functions to eaily run clion and pycharm on directories and ROS packages
	ide_wrapper() {
	[[ $# -lt 1 ]] && return 1
	ide_cmd=$1
	shift
	FORCE=0
	DIRNAME="./"
	while [[ $# -gt 0 ]]; do
	case $1 in
	-f\|--force)
	FORCE=1
	shift
	;;
	*)
	DIRNAME=$1
	shift
	;;
	esac
	done

	roscd $DIRNAME 2>&1 > /dev/null \|\| cd $DIRNAME \|\| return 1

	( [ -d ./.idea ] \|\| [ $FORCE -gt 0 ] ) && eval "$ide_cmd" ./ \|\| echo "No existing ide directory here, run as \"${funcstack[0]} -f\" to force creation."

	cd - > /dev/null
	}

	# alias pycharm="fk ${HOME}/.local/share/JetBrains/Toolbox/apps/pycharm-community/bin/pycharm.sh"
	alias pycharm="fk ${HOME}/.local/share/JetBrains/Toolbox/apps/pycharm-professional/bin/pycharm.sh"
	alias clion="fk ${HOME}/.local/share/JetBrains/Toolbox/apps/clion/bin/clion.sh"
	alias nova="fk ${HOME}/.local/share/JetBrains/Toolbox/apps/clion-nova/bin/clion.sh"

	cc() { ide_wrapper clion $@ }
	pp() { ide_wrapper pycharm $@ }
	nn() { ide_wrapper nova $@ }



	apt-history () {
	case "$1" in
	install)
	cat /var/log/dpkg.log \| grep 'install '
	;;
	upgrade\|remove)
	cat /var/log/dpkg.log \| grep $1
	;;
	rollback)
	cat /var/log/dpkg.log \| grep upgrade \| \
	grep "$2" -A10000000 \| \
	grep "$3" -B10000000 \| \
	awk '{print $4"="$5}'
	;;
	*)
	cat /var/log/dpkg.log
	;;
	esac
	}


	# Setup ROS
	export ROSCONSOLE_FORMAT='[${severity} ${time:%H:%M.%S}] ${node}: ${message}' # Second precision:
	# export ROSCONSOLE_FORMAT='[${severity} ${time}] ${node}: ${message}' # Subsecond precision:
	export ROSCONSOLE_CONFIG_FILE="${HOME}/.config/rosconsole.config"

	alias catkin_build="catkin build"

	export ROS_MASTER_URI="http://localhost:11311"
	export ROS_HOSTNAME="localhost"


	# Workspace Tools
	compile_cmds_catkin_build() { # I think this exists in cc_setup.zsh, why is this here?
	catkin build "$@"
	cat $ROS_WS_DIR/.catkin_tools/CATKIN_BUILD_DUMMY.json $ROS_WS_DIR/build/*/compile_commands.json(N) $ROS_WS_DIR/.catkin_tools/CATKIN_BUILD_DUMMY.json \| sed 's:\]\[:,:' > "${ROS_WS_DIR}/src/${CATKIN_PROFILE}/compile_commands.json"
	}

	source_ws() { # Isn't this all part of cc_setup.zsh now? Or should we replace that with the source_ws command. That will centralize that.
	catkin locate \| read -r WS_HOME && export ROS_WS_DIR="${WS_HOME}"

	echo -ne "[\n]" > $ROS_WS_DIR/.catkin_tools/CATKIN_BUILD_DUMMY.json

	alias catkin_build=compile_cmds_catkin_build

	[ -f "${WS_HOME}/cc_setup.zsh" ] && source "${ROS_WS_DIR}/cc_setup.zsh" \|\| source "${ROS_WS_DIR}/devel/setup.zsh"
	}

	DEFAULT_WS="$HOME/ws"
	ws() {cd "${1:-$DEFAULT_WS}" && source_ws}

	roswd() {roscd "$@" && pwd}


	# Source Required WSs
	source /opt/ros/noetic/setup.zsh
	source ~/.local/opt/zed_noetic/setup.zsh


	# FZF Tabcomplete, ZSH Autosuggestions, and ZSH syntax highlighting
	# Installation Instructions:
	# sudo apt install zsh fzf zsh-autosuggestions zsh-syntax-highlighting
	# wget -O ~/.zshrc https://git.grml.org/f/grml-etc-core/etc/zsh/zshrc
	# wget 'https://raw.githubusercontent.com/lincheney/fzf-tab-completion/master/zsh/fzf-zsh-completion.sh' -P ~/.local/share

	source /usr/share/zsh-autosuggestions/zsh-autosuggestions.zsh
	export FZF_DEFAULT_OPTS="--reverse"
	source /usr/share/doc/fzf/examples/key-bindings.zsh
	source /usr/share/doc/fzf/examples/completion.zsh

	source ~/.local/share/fzf-zsh-completion.sh # Breaks ROS Completion, run togcomp to turn it off for ROS

	# toggle fzf complete to allow ROS autocompletion
	togcomp() {
	if [ "${fzf_default_completion}" = "fzf_completion" ]; then
	export fzf_default_completion=expand-or-complete
	echo "fzf tab disabled"
	else
	export fzf_default_completion=fzf_completion
	echo "fzf tab renabled"
	fi
	}

	source /usr/share/zsh-syntax-highlighting/zsh-syntax-highlighting.zsh
	# Filename: /etc/tmux
	# Purpose: configuration file for tmux
	# Authors: grml-team (grml.org), (c) Michael Prokop <mika at grml.org>,
	# Sebastian Boehm <sebastian at sometimesfood.org>
	# Bernhard Tittelbach <xro at realraum.at>
	# Bug-Reports: see http://grml.org/bugs/
	# License: This file is licensed under the GPL v2.
	################################################################################

	### screen-like keybindings
	unbind C-b
	set -g prefix C-a
	bind-key a send-prefix
	bind-key C-a last-window
	unbind space
	bind-key space next-window
	bind-key C-space next-window
	bind-key K confirm-before kill-pane
	bind-key '\' confirm-before kill-session
	#bind-key C-h previous-window

	### join the last active pane to the currently active window
	bind-key j join-pane -s !

	### join the marked pane to the currently active window
	### ('bind-key m select-pane -m' is default to mark the current pane)
	bind-key J join-pane

	### Move current window to session named "bg" (and create session if it does not exist)
	bind-key B if-shell "! tmux has-session -t bg" "new-session -d -s bg" \; move-window -t bg

	### Reload Config
	if-shell "! (env \| grep -q TMUX=/tmp/tmate)" \
	"bind-key R source-file ~/.tmux.conf \\; source-file -q ~/.tmux.conf.local \\; display-message '~/.tmux.conf[.local] reloaded'"

	###rebind keys
	bind-key h next-layout
	bind-key BSpace previous-window

	bind-key tab select-pane -t :.+
	### useful custom keybindings
	bind-key \| command-prompt -p "exec:" "split-window -h '%%'"
	bind-key - command-prompt -p "exec:" "split-window -v '%%'"

	### misc options
	set -s escape-time 0
	set -g default-terminal "screen-256color"
	set -g display-panes-time 3000
	set -g visual-activity on
	set -g mode-keys vi

	### set status line appearance
	set -g status-style fg=white,bg=black

	set -g status-left-length 28
	### status-left: @hostname:sessionname
	set -g status-left "#[fg=white]@#h#[fg=red]:#S#[fg=white] \|"
	### status-left: username@hostname:sessionname
	#set -g status-left "#[fg=blue]#(echo ${USER})#[fg=white]@#h#[fg=red]:#S#[fg=white] \|"

	### status-right: Date and Time
	set -g status-right-length 16
	set -g status-right '#[fg=yellow]%Y-%m-%d %H:%M'
	### status-right: Time
	#set -g status-right-length 6
	#set -g status-right "#[fg=yellow]%H:%M"

	set-window-option -g window-status-style fg=blue,bg=black
	set-window-option -g window-status-current-style bold

	### source user-specific local configuration file
	if-shell "! (env \| grep -q TMUX=/tmp/tmate)" \
	"source-file -q ~/.config/tmux.conf.local"
	# Enable true color
	set -sa terminal-overrides ",xterm-256color:Tc"

	unbind C-a
	set-option -g prefix C-x
	bind-key C-b send-keys C-b
	bind-key C-x send-prefix
	bind-key -n C-b send-prefix

	set -g mouse
	bind-key V split-window -h # h
	bind-key v split-window -v
	bind-key N new-window

	bind PageUp copy-mode -eu
	bind C-S run "tmux save-buffer - \| xclip -selection clipboard"

	bind Q confirm-before -p "kill-session #S? (y/n)" kill-session

	set -g base-index 1
	[user]
	name = Suraj
	email = srathi@monarchtractor.com
	signingkey = D2C996AB7423059E
	[core]
	editor = vim
	autocrlf = input
	[init]
	defaultbranch = master
	[alias]
	lg = lg1
	lg1 = log --graph --abbrev-commit --decorate --format=format:'%C(bold blue)%h%C(reset) - %C(bold green)(%ar)%C(reset) %C(white)%s%C(reset) %C(dim white)- %an%C(reset)%C(auto)%d%C(reset)' --all
	lg2 = log --graph --abbrev-commit --decorate --format=format:'%C(bold blue)%h%C(reset) - %C(bold cyan)%aD%C(reset) %C(bold green)(%ar)%C(reset)%C(auto)%d%C(reset)%n'' %C(white)%s%C(reset) %C(dim white)- %an%C(reset)'
	[commit]
	gpgsign = true
	[rerere]
	enabled = true
	[branch]
	sort = -committerdate
	[diff]
	submodule = log
	mnemonicprefix = true

	[url "ssh://git@github.com/"]
	insteadof = https://github.com/

	[url "ssh://git@github.com"]
	insteadof = gh:

	[url "https://aur.archlinux.org/"]
	insteadof = aur:
	[pull]
	ff = only
	[merge]
	conflictstyle = diff3
	tool = meld
	[push]
	default = current
	[status]
	submodulesummary = true
	[submodule]
	recurse = true