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.zshrc
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# Enable Powerlevel10k instant prompt. Should stay close to the top of ~/.zshrc.
# Initialization code that may require console input (password prompts, [y/n]
# confirmations, etc.) must go above this block; everything else may go below.
if [[ -r "${XDG_CACHE_HOME:-$HOME/.cache}/p10k-instant-prompt-${(%):-%n}.zsh" ]]; then
source "${XDG_CACHE_HOME:-$HOME/.cache}/p10k-instant-prompt-${(%):-%n}.zsh"
fi
# If you come from bash you might have to change your $PATH.
# export PATH=$HOME/bin:/usr/local/bin:$PATH
# Path to your oh-my-zsh installation.
export ZSH="$HOME/.oh-my-zsh"
# Set name of the theme to load --- if set to "random", it will
# load a random theme each time oh-my-zsh is loaded, in which case,
# to know which specific one was loaded, run: echo $RANDOM_THEME
# See https://github.com/ohmyzsh/ohmyzsh/wiki/Themes
ZSH_THEME="powerlevel10k/powerlevel10k"
# Set list of themes to pick from when loading at random
# Setting this variable when ZSH_THEME=random will cause zsh to load
# a theme from this variable instead of looking in $ZSH/themes/
# If set to an empty array, this variable will have no effect.
# ZSH_THEME_RANDOM_CANDIDATES=( "robbyrussell" "agnoster" )
# Uncomment the following line to use case-sensitive completion.
# CASE_SENSITIVE="true"
# Uncomment the following line to use hyphen-insensitive completion.
# Case-sensitive completion must be off. _ and - will be interchangeable.
# HYPHEN_INSENSITIVE="true"
# Uncomment one of the following lines to change the auto-update behavior
# zstyle ':omz:update' mode disabled # disable automatic updates
# zstyle ':omz:update' mode auto # update automatically without asking
# zstyle ':omz:update' mode reminder # just remind me to update when it's time
# Uncomment the following line to change how often to auto-update (in days).
# zstyle ':omz:update' frequency 13
# Uncomment the following line if pasting URLs and other text is messed up.
# DISABLE_MAGIC_FUNCTIONS="true"
# Uncomment the following line to disable colors in ls.
# DISABLE_LS_COLORS="true"
# Uncomment the following line to disable auto-setting terminal title.
# DISABLE_AUTO_TITLE="true"
# Uncomment the following line to enable command auto-correction.
# ENABLE_CORRECTION="true"
# Uncomment the following line to display red dots whilst waiting for completion.
# You can also set it to another string to have that shown instead of the default red dots.
# e.g. COMPLETION_WAITING_DOTS="%F{yellow}waiting...%f"
# Caution: this setting can cause issues with multiline prompts in zsh < 5.7.1 (see #5765)
# COMPLETION_WAITING_DOTS="true"
# Uncomment the following line if you want to disable marking untracked files
# under VCS as dirty. This makes repository status check for large repositories
# much, much faster.
# DISABLE_UNTRACKED_FILES_DIRTY="true"
# Uncomment the following line if you want to change the command execution time
# stamp shown in the history command output.
# You can set one of the optional three formats:
# "mm/dd/yyyy"|"dd.mm.yyyy"|"yyyy-mm-dd"
# or set a custom format using the strftime function format specifications,
# see 'man strftime' for details.
# HIST_STAMPS="mm/dd/yyyy"
# Would you like to use another custom folder than $ZSH/custom?
# ZSH_CUSTOM=/path/to/new-custom-folder
# Which plugins would you like to load?
# Standard plugins can be found in $ZSH/plugins/
# Custom plugins may be added to $ZSH_CUSTOM/plugins/
# Example format: plugins=(rails git textmate ruby lighthouse)
# Add wisely, as too many plugins slow down shell startup.
plugins=(
#git
zsh-autosuggestions
zsh-autocomplete
zsh-syntax-highlighting
zsh-z
#tmux
)
########## ZSH PLUGIN CONFIGS ##########
HISTFILE=~/.histfile
HISTSIZE=50000
SAVEHIST=50000
ZSH_AUTOSUGGEST_STRATEGY=(history completion) # List history suggestions before completion
setopt HIST_IGNORE_SPACE # Do not save commands starting with <space> in history
####################
source $ZSH/oh-my-zsh.sh
# User configuration
# export MANPATH="/usr/local/man:$MANPATH"
# You may need to manually set your language environment
# export LANG=en_US.UTF-8
# Preferred editor for local and remote sessions
# if [[ -n $SSH_CONNECTION ]]; then
# export EDITOR='vim'
# else
# export EDITOR='mvim'
# fi
# Compilation flags
# export ARCHFLAGS="-arch x86_64"
# Set personal aliases, overriding those provided by oh-my-zsh libs,
# plugins, and themes. Aliases can be placed here, though oh-my-zsh
# users are encouraged to define aliases within the ZSH_CUSTOM folder.
# For a full list of active aliases, run `alias`.
#
# Example aliases
# alias zshconfig="mate ~/.zshrc"
# alias ohmyzsh="mate ~/.oh-my-zsh"
#################### MISC CONFIGS ####################
zstyle ':autocomplete:*' insert-unambiguous yes # Tab inserts unambiguous
bindkey '^ ' autosuggest-accept # Use Ctrl-Space to accept suggestions
bindkey "${terminfo[kcuu1]}" fzf-history-widget # bind up key to history search
#bindkey '^[[A' fzf-history-widget # bind up key to history search
# Pressing tab still occasionally causes "zsh: do you wish to see all X possiblities"
# Requires zsh 5.9 for fix
# https://github.com/marlonrichert/zsh-autocomplete/issues/291
zstyle ':autocomplete:tab:*' widget-style menu-complete
zstyle ':completion:*:*:man:*:*' menu select=long search # Suppress "zsh: do you wish to see all X possibilities"
# Custom insert-last-word to cycle all previous words
word_pos=-1
cmd_pos=-1
word_count=0
offset=1
function insert-last-word
{
zmodload -i zsh/parameter
zle .insert-last-word -- ${cmd_pos} ${word_pos}
buffer=${history[`expr $HISTNO - $offset`]}
word_count=${(w)#history[`expr $HISTNO - $offset`]}
word_pos=`expr "${word_pos}" - 1`
if [[ `expr 0 - $word_pos` -gt $word_count ]]; then
word_pos=-1
cmd_pos=-1
#while [[ ${history[`expr $HISTNO - $offset`]} == ${history[`expr $HISTNO - $offset - 1`]} ]]; do
offset=`expr "${offset}" + 1`
#done
else
cmd_pos=0
fi
}
zle -N insert-last-word
bindkey '\e.' insert-last-word
########## EXPORTS AND SOURCES ##########
# Use ntfy for notifying long commands
export AUTO_NTFY_DONE_IGNORE="fim vim nvim v ag grep screen meld ssh ussh gitk git-gui"
eval "$(ntfy shell-integration)"
export RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED=1
# drake related stuff
export LD_LIBRARY_PATH="/opt/drake/lib${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}"
export PATH="/opt/drake/bin${PATH:+:${PATH}}"
export PYTHONPATH="/opt/drake/lib/python$(python3 -c 'import sys; print("{0}.{1}".format(*sys.version_info))')/site-packages${PYTHONPATH:+:${PYTHONPATH}}"
[ -f ~/.fzf.zsh ] && source ~/.fzf.zsh
export FZF_DEFAULT_COMMAND='ag --hidden --ignore .git -g ""'
export PATH=$PATH:/home/$(whoami)/.cargo/bin
export PATH=$PATH:/home/$(whoami)/config/bin
########## CUSTOM ALIAS & FUNCTIONS ##########
# Update DISPLAY variable according to the one assigned to gnome-terminal-server
alias sudo='sudo ' # this allows us to sudo alias
alias cgrep='grep -r --include="*.hpp" --include="*.cpp" --include="*.h" --include="*.c"'
alias rfind='find -name "*.h" -o -name "*.c" -o -name "*.hpp" -o -name "*.cpp" -o -name "CMakeLists.txt" -o -name "*.launch" -o -name "*.xml" -o -name "*.yaml" -o -name "*.yml"'
alias cag='ag --cpp'
alias ussh='ssh -o UserKnownHostsFile=/dev/null -o StrictHostKeyChecking=no'
alias uscp='scp -o UserKnownHostsFile=/dev/null -o StrictHostKeyChecking=no'
alias usshfs='sshfs -o reconnect,default_permissions,ServerAliveInterval=15,ServerAliveCountMax=3 -o UserKnownHostsFile=/dev/null -o StrictHostKeyChecking=no'
alias ursync='rsync -e "ssh -o UserKnownHostsFile=/dev/null -o StrictHostKeyChecking=no"'
alias ag='ag --ignore tags --ignore "*.dae" --ignore "*.obj" --ignore ".fbx"'
alias v='nvim'
alias source_ros1='source /opt/ros/noetic/setup.zsh'
alias source_ros2='source /opt/ros/foxy/setup.zsh'
alias stop_ros='pkill roscore; (pkill gzserver && sleep 2 && pgrep gzserver && pkill -9 gzserver)'
alias source_zsh='source ~/.zshrc'
alias docker_gpu_run='xhost +local:docker && docker run --gpus all -v /tmp/.X11-unix/:/tmp/.X11-unix --env="DISPLAY"'
alias source_devel='source devel/setup.zsh'
alias source_install='source devel/setup.zsh'
alias disable_lfs='git config --global filter.lfs.smudge "git-lfs smudge --skip -- %f" && git config --global filter.lfs.process "git-lfs filter-process --skip"'
alias enable_lfs='git config --global filter.lfs.smudge "git-lfs smudge -- %f" && git config --global filter.lfs.process "git-lfs filter-process"'
md_to_background() {
pandoc -V geometry:paperwidth=53.3cm -V geometry:paperheight=30cm -V geometry:margin=1cm -V fontsize=12pt "$1" -o tmp.pdf \
&& pdftoppm -jpeg -r 300 tmp.pdf cheatsheet \
&& mv cheatsheet-1.jpg ~/Pictures/ \
&& gsettings set org.gnome.desktop.background picture-uri file:////home/rufus/Pictures/cheatsheet-1.jpg \
&& rm tmp.pdf
}
force_clean() {
disable_lfs \
&& git submodule foreach --recursive 'git clean -xfd && git stash && git reset --hard HEAD'
}
unzip_all() {
find . -name '*.zip' -execdir sh -c 'unzip -d "${1%.*}" "$1"' sh {} \;
}
# Attempts to reattach to a branch that contains current HEAD (counteracts detached HEAD)
head_branch() {
head="$(git rev-parse HEAD)"
git show-ref --heads | grep $head | awk '{print $2}' | sed 's$refs/heads/$$'
}
# Run fzf and open resultant file in vim
fim() {
local file
# If argument is supplied, use argument as query
if [ ! -z "$1" ]; then
file=$(fzf -1 --exact --query="$1")
else
file=$(fzf -m)
fi
[ -n "$file" ] && nvim -p "$(echo $file | xargs)"
}
# Similar to fim but searches file content instead of file name
# $ aim
aim() {
local file
local line
read -r file line <<<"$(ag --nobreak --noheading . | fzf -0 -1 | awk -F: '{print $1, $2}')"
[ -n "$file" ] && nvim -p $(echo $file +$line | tr '\n' ' ')
}
# Check memory usage of process
# $ mem /opt/google/chrome/chrome
mem() {
smem -t -k -c pss -P "$1" | tail -n 1
}
# Simple pattern matching refactor (renames variables and file names
# $ refactor "class_name1" "class_name2"
refactor() {
rfind | ack -xl "${1}" | xargs -I{} sed -i "s/${1}/${2}/g" {}
rfind | xargs -I{} rename "s/${1}/${2}/" {}
}
# home-wide directory search
fd() {
cd "${1}" && find "$(pwd)" -path '*/\.*' -prune \
-o -type d -print 2> /dev/null | fzf +m
}
# fuzzy find history while ensuring only unique and most recently used order
# Also ensures multiline history works correctly
h() {
print -z $( ([ -n "$ZSH_NAME" ] && fc -l 1 || history) | sed -r 's/ *[0-9]*\*? *//' | \
tac | awk '!_[$0]++' | tac | \
fzf -e +s --tac | sed -r 's/\\/\\\\/g' | xargs -0 -I{} echo -e {})
}
# Create directory and file and echo back filename for chaining
create() {
mkdir -p "${1%/*}" && touch "${1}"
echo "${1}"
}
# Home-wide file search
ff() {
cd "${1}" && find "$(pwd)" -print 2>/dev/null | fzf -m
}
this_branch() {
git branch | grep \* | cut -d ' ' -f2
}
# Setup Language Server
tag() {
cmake -H. -B.tag -DCMAKE_BUILD_TYPE=Debug -DCMAKE_EXPORT_COMPILE_COMMANDS=YES
ln -s .tag/compile_commands.json
}
# Clean ROS environment variables
ros_clean() {
ROS_ENV_VARS="$(env | grep "ROS_\|AMENT_\|COLCON_\|CATKIN_" | egrep -o '^[^=]+' | tr -s '\n' ' ')"
if [[ ! -z "$ROS_ENV_VARS" ]]; then
unset ${=ROS_ENV_VARS}
fi
PATH=$(echo "$PATH" | perl -pe 's|(:?)/opt/ros/[^:]*|\1|')
}
function mmv()
{
dir="$2"
tmp="$2"; tmp="${tmp: -1}"
[[ "$tmp" != "/" ]] && dir="$(dirname "$2")"
[[ -a "$dir" ]] || mkdir -p "$dir" && mv "$@"
}
alias find_errors='ag -A1 "\[gee_main-99\] has died|terminate called after throwing an instance of"'
function tests_with_errors()
{
ag -l -A1 "\[gee_main-99\] has died|terminate called after throwing an instance of" | awk -F '/' '{ print $1"/"$2}' | rev | cut -c 3- | rev | sort | uniq
}
function grep2()
{
rg --multiline "$2.*(.*\n){0,$1}.*$3" | rg "$2|$3"
}
function range2()
{
rg --multiline "$2.*(.*\n){0,$1}.*$3"
}
function rebase_submodule()
{
if [ -z "$1" ]; then
echo "Please provide path to submodule"
return
fi
submodule_dir="$1"
current_submodule_hash=$(git ls-tree HEAD "${submodule_dir}" | awk '{print $3}')
if [ $? -ne 0 ] || [ -z "${current_submodule_hash}" ]; then
echo "Could not determine current submodule commit"
return
fi
required_submodule_hash=$(git rebase --show-current-patch | grep "+Subproject commit " | awk '{print $3}')
if [ $? -ne 0 ] || [ -z "${required_submodule_hash}" ]; then
echo "Could not determine required submodule commit"
return
fi
pushd "${submodule_dir}"
if ! git fetch --all ; then echo "git fetch failed" ; popd ; return ; fi
# use xargs to trim spaces
branch="$(git branch --contains ${required_submodule_hash} | grep -v "HEAD detached" | xargs)"
if ! git switch "${branch}" ; then ; echo "Failed switching to branch ${branch}" ; popd ; return ; fi
if ! git rebase "${current_submodule_hash}" ; then ; echo "Failed rebasing ${branch} on top of ${current_submodule_hash}" ; popd ; return ; fi
echo "Calling git push --force-with-lease in $(pwd)"
git push --force-with-lease
popd
if ! git add "${submodule_dir}" ; then ; echo "Failed to add ${submodule_dir}" ; popd ; return ; fi
echo "Submodule git added in $(pwd)"
}
function rebase_develop()
{
if git fetch origin develop ; then
if ! git rebase origin/develop ; then
rebase_submodule ext_ws/src/ros_launch_structure
fi
fi
}
# Taken from https://github.com/catkin/catkin_tools/issues/551#issuecomment-553521463
function generate_compile_commands()
{
jq -s 'map(.[])' **/compile_commands.json > compile_commands.json
}
# To customize prompt, run `p10k configure` or edit ~/.p10k.zsh.
[[ ! -f ~/.p10k.zsh ]] || source ~/.p10k.zsh