setup

#!/bin/bash

#Useful functions for setup script
function easyread() {
if [[ $MINGW_CHECK == false ]]
then
    read -e -p "$1:" -i "$2"
else
    read -e -p "$1 [$2]:"
fi
#Copy default value into return field
if [[ $REPLY == '' ]]
then
    REPLY=$2
fi
}

function check-if-gitrepo()
{
    #From http://stackoverflow.com/a/2185353/2059564 
    if git rev-parse --git-dir > /dev/null 2>&1; then
        : # This is a valid git repository (but the current working
        # directory may not be the top level.
        # Check the output of the git rev-parse command if you care)
        return 0
    else
        echo "The current folder is not a git repository! Until github adds"
        echo "submodule archiving to their tags, the source folder must be a git repository."
        echo 
        read -p "Would you like to clone the openhubo repository to continue [Y/n]?" CLONE_NEW_REPO
        if [[ $CLONE_NEW_REPO == 'n' || $CLONE_NEW_REPO == 'N' ]]
        then
            echo "Exiting..."
            exit 1
        fi
        local DEF_PATH=$HOME/openHubo
        easyread "Type a destination path for repository:" "$DEF_PATH"; eval DEST_PATH=$REPLY
        if git clone --recursive git://github.com/daslrobotics/openHubo.git "$DEST_PATH"
        then
            cd $DEST_PATH
            return 0
        else
            exit 1
        fi
    fi
}

function verify-dep()
{
    local RESULT=`dpkg-query -l $1 | grep "ii"`
    local INSTALL_MISSING_DEP=''
    if [[ ${#RESULT} == 0 ]]
    then
        read -p "Install missing dependent package/library $1 [Y/n]?" INSTALL_MISSING_DEP
        if [[ $INSTALL_MISSING_DEP == 'n' || $INSTALL_MISSING_DEP == 'N' ]]
        then
            echo "WARNING: skipping dependent package/library $1..."
        else
            sudo apt-get install $1
        fi
    else
        echo "package/library $1 is installed"
    fi
}

function check-submodules()
{
    #Check if submodules have changed and ask user to decide whether to checkout
    #specified version in parent repository.
    git submodule init

    OLD_IFS=$IFS
    IFS=$'\n'

    for stat in `git submodule status`
    do
        local PLUGIN_STATUS=`echo $stat | cut -c 1`
        local PLUGIN_NAME=`echo $stat | awk '{print $2}'`

        if [[ $PLUGIN_STATUS == '-' ]]
        then
            git submodule update $PLUGIN_NAME
        fi
        if [[ $PLUGIN_STATUS == '+' ]]
        then
            echo "-----------------------------------------------------"
            echo "Submodule $PLUGIN_NAME has been changed from the default commit specified in this repository."
            echo "Would you like to revert from the current state to the default commit?"
            echo "Choose No (n) if you are making your own changes and want to build the plugins as-is"
            read -p "Enter your choice [Y/n]?" SUBMODULE_UPDATE
            if [[ $SUBMODULE_UPDATE == 'n' || $SUBMODULE_UPDATE == 'N' ]]
            then
                echo "Submodule update skipped..."
            else
                echo "Updating plugin $PLUGIN_NAME to match the current openHubo commit..."
                git submodule update --init $PLUGIN_NAME
            fi
        fi
    done
    IFS=$OLD_IFS
}

#Install script starts here

check-if-gitrepo

if [[ $1 == "clean" ]]
then
    ./util/clean-all.sh
else
    read -p "Clean up previous plugins (do this if there are any major changes to openhubo, like pulling a new version) [y/N]?" CLEANUP_PLUGINS
    if [[ $CLEANUP_PLUGINS == 'Y' || $CLEANUP_PLUGINS == 'y' ]]
    then
        ./util/clean-all.sh
    fi
fi

#Check if python dependencies are installed (may not work for older Ubuntu versions)
for dep in ipython python-matplotlib python-scipy python-pip
do
    verify-dep $dep
done
BASE_DIR=`git rev-parse --show-toplevel`

#Remove known old plugins that cause conflicts
rm $BASE_DIR/plugins/libopenmr.so

check-submodules

for p in servocontroller forceSensor
do
    echo ""
    echo "Building $p Plugin..."
    echo ""

    cd $BASE_DIR/$p/
    [ -d build ] || mkdir build
    cd build
    cmake ../src/
    make install
done

echo ""
echo "Building CoMPS plugins..."
echo ""

#CoMPS prereqs and build steps

for dep in libqhull-dev libqhull5 libnewmat10-dev libnewmat10ldbl libboost-regex-dev
do
    verify-dep $dep
done

for pkg in generalik cbirrt2 manipulation2
do
    cd $BASE_DIR/comps-code/$pkg
    [ -d build ] || mkdir build
    cd build
    cmake ../
    make install
done

cd $BASE_DIR

ENV_SOURCED_SEARCH=`grep $BASE_DIR/env.sh ~/.bashrc`

if [[ ${#ENV_SOURCED_SEARCH} == 0 ]]
then
    echo "source $BASE_DIR/env.sh" >> ~/.bashrc
fi
 
#Strip out base folder definition and update with current
sed "s,\( OPENHUBO_DIR=\),\1$BASE_DIR," .env.template > env.sh
echo ""
echo "OpenHubo base folder is $BASE_DIR"
source env.sh

PLUGINS_LIST=`openrave.py --listplugins`

for f in `ls plugins/*.so`
do
    PLUGIN_CHECK=`echo $PLUGINS_LIST | grep $f`
    if [[ ${#PLUGIN_CHECK} == 0 ]]
    then
        echo "$f NOT found by OpenRAVE, please check the build log above!"
    else
        echo "$f found by OpenRAVE"
    fi
done

# Canonicalize symlink path to be installed
OPENHUBO_LOCAL_EXEC_PATH=`readlink -f "$BASE_DIR/openhubo/bin/openhubo"`
OPENHUBO_BIN_PATH=$(which openhubo)

if [[ ${#OPENHUBO_BIN_PATH} > 0 ]]
then
    OPENHUBO_CURRENT_LINK_TARGET=$(readlink $OPENHUBO_BIN_PATH)
fi
#TODO: simplify this part
if [[ ! $OPENHUBO_LOCAL_EXEC_PATH == $OPENHUBO_CURRENT_LINK_TARGET ]]
then
    OPENHUBO_LINK='/usr/local/bin/openhubo'
    echo -e "\nCreating openhubo symlink at $OPENHUBO_LINK"
    sudo ln -sf $BASE_DIR/openhubo/bin/openhubo $OPENHUBO_LINK
else
    echo -e "\nopenhubo symlink found at $OPENHUBO_CURRENT_LINK_TARGET"
fi