#! /bin/bash

# ==============================================================================
# -- Set up environment --------------------------------------------------------
# ==============================================================================

#export CC=/usr/bin/clang-8
#export CXX=/usr/bin/clang++-8

source $(dirname "$0")/Environment.sh

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

ADRSS_BASENAME=ad-rss-3.0.0
ADRSS_INSTALL_DIR="${CARLA_BUILD_FOLDER}/${ADRSS_BASENAME}/install"



if [[ -d "${ADRSS_INSTALL_DIR}" ]]; then
  log "${ADRSS_BASENAME} already installed."
else
  # ad-rss is built inside a colcon workspace, therefore we have to setup the workspace first
  if [[ -d "${CARLA_BUILD_FOLDER}/${ADRSS_BASENAME}/src" ]]; then
    rm -rf "${CARLA_BUILD_FOLDER}/${ADRSS_BASENAME}/src"
  fi
  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.x https://github.com/gabime/spdlog.git
  git clone --depth=1 -b v2.0.1 https://github.com/carla-simulator/map
  git clone --depth=1 -b v3.0.0 https://github.com/intel/ad-rss-lib
  popd

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

EOL

  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

  #after a fixing clang compile warnings and errors in components
  # -DCMAKE_TOOLCHAIN_FILE=${CARLA_BUILD_FOLDER}/LibStdCppToolChain.cmake
  colcon build --packages-up-to ad_rss_map_integration --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo

  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