#!/usr/bin/env bash
# 面向离线场景的 Flexiv RDK v1.9.1 安装脚本（供 ROS 的 humble-v1 / `flexiv_hardware` 使用）。
# CMakeLists 已经支持 `FLEXIV_RDK_OFFLINE_LIB` / `vendor/rdk_libs/`。
set -euo pipefail

ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
RDK_SRC="${RDK_SRC:-$ROOT/src/flexiv_rdk_v1}"
PREFIX="${PREFIX:-$HOME/flexiv_install}"
LIB_NAME="libflexiv_rdk.x86_64-linux-gnu.a"
EXPECTED_HASH="$(tr -d '[:space:]' < "${RDK_SRC}/lib/${LIB_NAME}.sha256")"
VENDOR_LIB="${ROOT}/vendor/rdk_libs/${LIB_NAME}"
JOBS="${JOBS:-$(nproc)}"

# 优先用 conda 的 ros_flexiv 工具链（cmake/g++ 往往只在那里有）
if ! command -v cmake >/dev/null 2>&1; then
  # shellcheck disable=SC1091
  source "${HOME}/anaconda3/etc/profile.d/conda.sh" 2>/dev/null \
    || source "${HOME}/miniconda3/etc/profile.d/conda.sh" 2>/dev/null \
    || true
  conda activate "${CONDA_ENV:-ros_flexiv}" 2>/dev/null || true
fi
if ! command -v cmake >/dev/null 2>&1; then
  echo "ERROR: cmake not found. Activate ros_flexiv (or install cmake) first."
  exit 1
fi
echo "Using cmake: $(command -v cmake) ($(cmake --version | head -1))"

mkdir -p "${ROOT}/vendor/rdk_libs" "${PREFIX}"

if [[ -f "${VENDOR_LIB}" ]] && [[ "$(sha256sum "${VENDOR_LIB}" | awk '{print $1}')" == "${EXPECTED_HASH}" ]]; then
  echo "OK: ${VENDOR_LIB}"
else
  echo "Need ${LIB_NAME} (SHA256 ${EXPECTED_HASH})"
  base="https://github.com/flexivrobotics/flexiv_rdk/releases/download/v1.9.1/${LIB_NAME}"
  ok=0
  for url in \
    "${base}" \
    "https://ghproxy.net/${base}" \
    "https://gh.ddlc.top/${base}" \
    "https://hub.gitmirror.com/${base}" \
    "https://cf.ghproxy.cc/${base}"
  do
    echo "TRY ${url}"
    if curl -fL --connect-timeout 15 --max-time 120 -o "${VENDOR_LIB}.part" "${url}" \
      && [[ "$(sha256sum "${VENDOR_LIB}.part" | awk '{print $1}')" == "${EXPECTED_HASH}" ]]; then
      mv "${VENDOR_LIB}.part" "${VENDOR_LIB}"
      ok=1
      break
    fi
    rm -f "${VENDOR_LIB}.part"
  done
  if [[ "${ok}" -ne 1 ]]; then
    cat <<EOF
FAILED to download ${LIB_NAME}.

Manual (any PC with GitHub access):
  wget -O ${LIB_NAME} '${base}'
  sha256sum ${LIB_NAME}   # must be ${EXPECTED_HASH}
  scp ${LIB_NAME} $(hostname):${VENDOR_LIB}

Then re-run: $0
EOF
    exit 1
  fi
fi

export FLEXIV_RDK_OFFLINE_LIB="${VENDOR_LIB}"

echo "Install deps into ${PREFIX} (may still need git mirrors)..."
DEP_SCRIPT=""
for s in \
  "${RDK_SRC}/thirdparty/build_and_install_dependencies_not_in_ros2.sh" \
  "${RDK_SRC}/thirdparty/build_and_install_dependencies.sh"
do
  [[ -f "$s" ]] && DEP_SCRIPT="$s" && break
done
if [[ -n "${DEP_SCRIPT}" ]]; then
  bash "${DEP_SCRIPT}" "${PREFIX}" "${JOBS}" || {
    echo "WARN: deps script failed. If Eigen/spdlog/Fast-DDS/RBDyn already in ${PREFIX}, continue."
  }
else
  echo "WARN: no dependency script found"
fi

rm -rf "${RDK_SRC}/build"
mkdir -p "${RDK_SRC}/build" && cd "${RDK_SRC}/build"
cmake .. -DCMAKE_BUILD_TYPE=Release \
  -DCMAKE_INSTALL_PREFIX="${PREFIX}" \
  -DCMAKE_PREFIX_PATH="${PREFIX}"
cmake --build . --target install -j "${JOBS}"

cat <<EOF

RDK installed to ${PREFIX}
Next:
  conda activate ros_flexiv
  cd ${ROOT}
  colcon build --symlink-install --cmake-args -DCMAKE_PREFIX_PATH=${PREFIX} \\
    --packages-up-to flexiv_bringup flexiv_hardware arm_bringup

Python (already ready, no GitHub):
  /home/cc/rdk_py310/bin/python
  bash ${ROOT}/scripts/test_rdk_python.sh
EOF