#! /bin/bash

# ==============================================================================
# -- Set up environment --------------------------------------------------------
# ==============================================================================
source $(dirname "$0")/Environment.sh

# ==============================================================================
# -- Get and compile ad-rss -------------------------------------------
# ==============================================================================

ADRSS_BASENAME=ad-rss-4.0.0
ADRSS_INSTALL_DIR="${CARLA_BUILD_FOLDER}/${ADRSS_BASENAME}/install"



if [[ -d "${ADRSS_INSTALL_DIR}" ]]; then
  log "${ADRSS_BASENAME} already installed."
else
  if [[ ! -d "${CARLA_BUILD_FOLDER}/${ADRSS_BASENAME}/src" ]]; then
    # ad-rss is built inside a colcon workspace, therefore we have to setup the workspace first
    if [[ -d "${CARLA_BUILD_FOLDER}/${ADRSS_BASENAME}/build" ]]; then
      rm -rf "${CARLA_BUILD_FOLDER}/${ADRSS_BASENAME}/build"
    fi

    mkdir -p "${CARLA_BUILD_FOLDER}/${ADRSS_BASENAME}/src"

    log "Retrieving ${ADRSS_BASENAME}."

    pushd "${CARLA_BUILD_FOLDER}/${ADRSS_BASENAME}/src" >/dev/null
    git clone --depth=1 -b v1.7.0 https://github.com/gabime/spdlog.git
    git clone --depth=1 -b 4.9.3 https://github.com/OSGeo/PROJ.git
    git clone --depth=1 -b v2.1.0 https://github.com/carla-simulator/map.git
    git clone --depth=1 -b v4.0.1 https://github.com/intel/ad-rss-lib.git
    popd

    cat >"${CARLA_BUILD_FOLDER}/${ADRSS_BASENAME}/colcon.meta" <<EOL
{
    "names": {
        "PROJ4": {
            "cmake-args": ["-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_LIBPROJ_SHARED=OFF"]
        },
        "ad_physics": {
            "cmake-args": ["-DBUILD_PYTHON_BINDING=ON", "-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF", "-DDISABLE_WARNINGS_AS_ERRORS=ON"]
        },
        "ad_map_access": {
            "cmake-args": ["-DBUILD_PYTHON_BINDING=ON", "-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF", "-DDISABLE_WARNINGS_AS_ERRORS=ON"]
        },
        "ad_map_opendrive_reader": {
            "cmake-args": ["-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF", "-DDISABLE_WARNINGS_AS_ERRORS=ON"],
            "dependencies": ["PROJ4"]
        },
        "ad_rss": {
            "cmake-args": ["-DBUILD_PYTHON_BINDING=ON", "-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF", "-DDISABLE_WARNINGS_AS_ERRORS=ON"]
        },
        "ad_rss_map_integration": {
            "cmake-args": ["-DBUILD_PYTHON_BINDING=ON", "-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF", "-DDISABLE_WARNINGS_AS_ERRORS=ON"]
        },
        "spdlog": {
            "cmake-args": ["-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF"]
        }
    }
}

EOL
  fi

  log "Compiling ${ADRSS_BASENAME}."

  pushd "${CARLA_BUILD_FOLDER}/${ADRSS_BASENAME}" >/dev/null

  if [ "${CMAKE_PREFIX_PATH}" == "" ]; then
    export CMAKE_PREFIX_PATH=${CARLA_BUILD_FOLDER}/boost-1.72.0-c8-install
  else
    export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:${CARLA_BUILD_FOLDER}/boost-1.72.0-c8-install
  fi

  # enforce sequential executor to reduce the required memory for compilation
  colcon build --executor sequential --packages-up-to ad_rss_map_integration --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_TOOLCHAIN_FILE="${CARLA_BUILD_FOLDER}/LibStdCppToolChain.cmake"

  COLCON_RESULT=$?
  if (( COLCON_RESULT )); then
    rm -rf "${ADRSS_INSTALL_DIR}"
    log "Failed !"
  else
    log "Success!"
  fi

  # ==============================================================================
  # -- ...and we are done --------------------------------------------------------
  # ==============================================================================

  popd >/dev/null

fi