#! /bin/bash

if [[ -d "llvm-source-39" ]]; then
    echo "Hello there! We just upgraded AirSim to Unreal Engine 4.18."
    echo "Here are few easy steps for upgrade so everything is new and shiny :)"
    echo "https://github.com/Microsoft/AirSim/blob/master/docs/unreal_upgrade.md"
    exit 1
fi

set -x
# set -e

SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
pushd "$SCRIPT_DIR" >/dev/null

downloadHighPolySuv=true
gccBuild=false
MIN_CMAKE_VERSION=3.10.0
MIN_GCC_VERSION=6.0.0
function version_less_than_equal_to() { test "$(printf '%s\n' "$@" | sort -V | head -n 1)" = "$1"; }

# Parse command line arguments
while [[ $# -gt 0 ]]
do
key="$1"

case $key in
    --no-full-poly-car)
    downloadHighPolySuv=false
    shift # past value
    ;;
    --gcc)
    gccBuild=true
    shift # past argument
    ;;
esac
done

if $gccBuild; then
    # gcc tools
    gcc_ver=$(gcc -dumpfullversion)
    gcc_path=$(which cmake)
    if [[ "$gcc_path" == "" ]] ; then
        gcc_ver=0
    fi
    if version_less_than_equal_to $gcc_ver $MIN_GCC_VERSION; then
        if [ "$(uname)" == "Darwin" ]; then # osx
            brew update
            brew install gcc-6 g++-6
        else
            sudo add-apt-repository ppa:ubuntu-toolchain-r/test
            sudo apt-get -y update
            sudo apt-get install -y gcc-6 g++-6
        fi
    else
        echo "Already have good version of gcc: $gcc_ver"
    fi
else
    # llvm tools
    if [ "$(uname)" == "Darwin" ]; then # osx
        brew update

        # brew install llvm@3.9
        brew tap llvm-hs/homebrew-llvm
        brew install llvm-5.0
        export C_COMPILER=/usr/local/opt/llvm-5.0/bin/clang-5.0
        export COMPILER=/usr/local/opt/llvm-5.0/bin/clang++-5.0

    else #linux
        #install clang and build tools

        VERSION=$(lsb_release -rs | cut -d. -f1)
        # Since Ubuntu 17 clang-5.0 is part of the core repository
        # See https://packages.ubuntu.com/search?keywords=clang-5.0
        if [ "$VERSION" -lt "17" ]; then
            wget -O - http://apt.llvm.org/llvm-snapshot.gpg.key|sudo apt-key add -
            sudo apt-get update
        fi
        sudo apt-get install -y clang-5.0 clang++-5.0
        export C_COMPILER=clang-5.0
        export COMPILER=clang++-5.0
    fi
fi

#give user perms to access USB port - this is not needed if not using PX4 HIL
#TODO: figure out how to do below in travis
if [ "$(uname)" == "Darwin" ]; then # osx
    if [[ ! -z "${whoami}" ]]; then #this happens when running in travis
        sudo dseditgroup -o edit -a `whoami` -t user dialout
    fi

    brew install wget
    brew install coreutils
    brew install cmake  # should get cmake 3.8

else #linux
    if [[ ! -z "${whoami}" ]]; then #this happens when running in travis
        sudo /usr/sbin/useradd -G dialout $USER
        sudo usermod -a -G dialout $USER
    fi

    #install additional tools
    sudo apt-get install -y build-essential
    sudo apt-get install -y unzip

    cmake_ver=$(cmake --version 2>&1 | head -n1 | cut -d ' ' -f3 | awk '{print $NF}')
    cmake_path=$(which cmake)
    if [[ "$cmake_path" == "" ]] ; then
        cmake_ver=0
    fi

    #download cmake - v3.10.2 is not out of box in Ubuntu 16.04
    if version_less_than_equal_to $gcc_ver $MIN_GCC_VERSION; then
        if [[ ! -d "cmake_build/bin" ]]; then
            echo "Downloading cmake..."
            wget https://cmake.org/files/v3.10/cmake-3.10.2.tar.gz \
                -O cmake.tar.gz
            tar -xzf cmake.tar.gz
            rm cmake.tar.gz
            rm -rf ./cmake_build
            mv ./cmake-3.10.2 ./cmake_build
            pushd cmake_build
            ./bootstrap
            make
            popd
        fi
        if [ "$(uname)" == "Darwin" ]; then
            CMAKE="$(greadlink -f cmake_build/bin/cmake)"
        else
            CMAKE="$(readlink -f cmake_build/bin/cmake)"
        fi
    else
        echo "Already have good version of cmake: $cmake_ver"
        CMAKE=$(which cmake)
    fi
fi

# Download rpclib
if [ ! -d "external/rpclib/rpclib-2.2.1" ]; then
    echo "*********************************************************************************************"
    echo "Downloading rpclib..."
    echo "*********************************************************************************************"

    wget  https://github.com/rpclib/rpclib/archive/v2.2.1.zip

    # remove previous versions
    rm -rf "external/rpclib"

    mkdir -p "external/rpclib"
    unzip v2.2.1.zip -d external/rpclib
    rm v2.2.1.zip
fi

# Download high-polycount SUV model
if $downloadHighPolySuv; then
    if [ ! -d "Unreal/Plugins/AirSim/Content/VehicleAdv" ]; then
        mkdir -p "Unreal/Plugins/AirSim/Content/VehicleAdv"
    fi
    if [ ! -d "Unreal/Plugins/AirSim/Content/VehicleAdv/SUV/v1.2.0" ]; then
            echo "*********************************************************************************************"
            echo "Downloading high-poly car assets.... The download is ~37MB and can take some time."
            echo "To install without this assets, re-run setup.sh with the argument --no-full-poly-car"
            echo "*********************************************************************************************"

            if [ -d "suv_download_tmp" ]; then
                rm -rf "suv_download_tmp"
            fi
            mkdir -p "suv_download_tmp"
            cd suv_download_tmp
            wget  https://github.com/Microsoft/AirSim/releases/download/v1.2.0/car_assets.zip
            if [ -d "../Unreal/Plugins/AirSim/Content/VehicleAdv/SUV" ]; then
                rm -rf "../Unreal/Plugins/AirSim/Content/VehicleAdv/SUV"
            fi
            unzip car_assets.zip -d ../Unreal/Plugins/AirSim/Content/VehicleAdv
            cd ..
            rm -rf "suv_download_tmp"
    fi
else
    echo "### Not downloading high-poly car asset (--no-full-poly-car). The default unreal vehicle will be used."
fi

# Below is alternative way to get clang by downloading binaries
# get clang, libc++
# sudo rm -rf llvm-build
# mkdir -p llvm-build/output
# wget "http://releases.llvm.org/4.0.1/clang+llvm-4.0.1-x86_64-linux-gnu-debian8.tar.xz"
# tar -xf "clang+llvm-4.0.1-x86_64-linux-gnu-debian8.tar.xz" -C llvm-build/output

# #other packages - not need for now
# #sudo apt-get install -y clang-3.9-doc libclang-common-3.9-dev libclang-3.9-dev libclang1-3.9 libclang1-3.9-dbg libllvm-3.9-ocaml-dev libllvm3.9 libllvm3.9-dbg lldb-3.9 llvm-3.9 llvm-3.9-dev llvm-3.9-doc llvm-3.9-examples llvm-3.9-runtime clang-format-3.9 python-clang-3.9 libfuzzer-3.9-dev

#get libc++ source
if ! $gccBuild; then
    echo "### Installing llvm 5 libc++ library..."
    if [[ ! -d "llvm-source-50" ]]; then
        git clone --depth=1 -b release_50  https://github.com/llvm-mirror/llvm.git llvm-source-50
        git clone --depth=1 -b release_50  https://github.com/llvm-mirror/libcxx.git llvm-source-50/projects/libcxx
        git clone --depth=1 -b release_50  https://github.com/llvm-mirror/libcxxabi.git llvm-source-50/projects/libcxxabi
    else
        echo "folder llvm-source-50 already exists, skipping git clone..."
    fi
    #build libc++
    if [ "$(uname)" == "Darwin" ]; then
        rm -rf llvm-build
    else
        sudo rm -rf llvm-build
    fi
    mkdir -p llvm-build
    pushd llvm-build >/dev/null

    "$CMAKE" -DCMAKE_C_COMPILER=${C_COMPILER} -DCMAKE_CXX_COMPILER=${COMPILER} \
          -LIBCXX_ENABLE_EXPERIMENTAL_LIBRARY=OFF -DLIBCXX_INSTALL_EXPERIMENTAL_LIBRARY=OFF \
          -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX=./output \
                ../llvm-source-50

    make cxx -j`nproc`

    #install libc++ locally in output folder
    if [ "$(uname)" == "Darwin" ]; then
        make install-libcxx install-libcxxabi
    else
        sudo make install-libcxx install-libcxxabi
    fi

    popd >/dev/null
fi

echo "Installing EIGEN library..."

if [ "$(uname)" == "Darwin" ]; then
    rm -rf ./AirLib/deps/eigen3/Eigen
else
    sudo rm -rf ./AirLib/deps/eigen3/Eigen
fi
echo "downloading eigen..."
wget https://gitlab.com/libeigen/eigen/-/archive/3.3.2/eigen-3.3.2.zip
unzip eigen-3.3.2.zip -d temp_eigen
mkdir -p AirLib/deps/eigen3
mv temp_eigen/eigen*/Eigen AirLib/deps/eigen3
rm -rf temp_eigen
rm eigen-3.3.2.zip

popd >/dev/null

set +x
echo ""
echo "************************************"
echo "AirSim setup completed successfully!"
echo "************************************"