#!/bin/bash

DCAITI_PATH=.

# Define your windows, working dirs, and commands
declare -a windows=(
    "performance"
    "base" 
    "remote_control"
    "lidar"
    "nav2"
)
declare -a work_dirs=(
    $HOME
    $DCAITI_PATH
    $DCAITI_PATH/src/dcaitirobot/launch
    $DCAITI_PATH
    $DCAITI_PATH/src/dcaitirobot/launch
    #$DCAITI_PATH/src/dcaiti_navigation/launch
)
declare -a commands=(
    "htop"
    "ros2 launch dcaiti_control launch_robot.py"
    "ros2 launch remote_control_launch.py"
    "ros2 launch velodyne velodyne-all-nodes-VLP16-launch.py"
    "ros2 launch launch_slam.py"
    #"ros2 launch start_nav2.py"
)

# Start tmux
tmux start-server

SESSION=dcaiti

# Create a new session without attaching yet
tmux new-session -d -s $SESSION

# Iterate over sessions array and create them
for index in ${!windows[*]}; do
    window=${windows[$index]}
    work_dir=${work_dirs[$index]}
    command=${commands[$index]}

    # If it's the first window, rename the existing window, otherwise create a new one
    if [ $index -eq 0 ]; then
        tmux rename-window -t $SESSION:0 $window
    else
        tmux new-window -t $SESSION -n $window
    fi

    # Switch to work_dir and execute the command
    tmux send-keys -t $SESSION:$window "cd $work_dir" C-m
    tmux send-keys -t $SESSION:$window "$command" C-m
done

# Finally attach to the tmux session
tmux attach-session -t $SESSION