#!/bin/bash
# setup on linux
# runs from a nautilus image
ROBOTS_HOME=$CHALLENGE_ROOT/src/MMI/interrob
ROBOT_INTERFACE=$ROBOTS_HOME/robot-interface
# IPC variables should be set in the environment
#CENTRALHOST=localhost
#HOSTNAME=pc45
OS=`uname -s`
if [ $OS = SunOS ];   then  
    THIS_OS=Solaris;
else
    THIS_OS=Linux;
fi
GESTURE_C_HOME=$ROBOTS_HOME/robot-interface
WAYPOINT_FILE=$GESTURE_C_HOME/waypoint.dat
LOCATION_FILE=$GESTURE_C_HOME/location.dat

# to load the ipc shared library and ipc-system
# IPC_DIRECTORY=/home/challenge/external/ipc
# IPC_DIR=$HOME/ipc
# CHALLENGE_LIB_DIR=$HOME/challenge/lib
ROBOT_NAME=grace
# 
GESTURE_WAIT=1
GESTURE_AGE=15

export ROBOTS_HOME THIS_OS
export GESTURE_C_HOME WAYPOINT_FILE LOCATION_FILE ROBOT_NAME  GESTURE_WAIT GESTURE_AGE ROBOT_INTERFACE

if [ ! -f $ROBOTS_HOME/bin/$THIS_OS/interrob.dxl ];   then  
    alisp -I $ROBOTS_HOME/bin/$THIS_OS/nautilus-core.dxl -e "(progn (load (compile-file \"challenge-wrap\")) (nlp::compile-interrob '($*)))" ||
    echo Problem. Check environment variable CHALLENGE_ROOT, IPC_DIR, etc.
fi

alisp -I $ROBOTS_HOME/bin/$THIS_OS/interrob.dxl -e "(nlp::run-interrob '($*))" ||
    echo Problem. Check environment variable CHALLENGE_ROOT, IPC_DIR, etc.
