#!/usr/bin/env bash
# 把 Flexiv RDK v1.x 构建安装到 ~/flexiv_install（真机 / `flexiv_hardware` 必需）。
set -euo pipefail
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
RDK="${ROOT}/src/flexiv_rdk"
PREFIX="${FLEXIV_INSTALL_PREFIX:-$HOME/flexiv_install}"

if [[ ! -d "$RDK" ]]; then
  echo "Missing $RDK — run scripts/fetch_flexiv.sh first"
  exit 1
fi

echo "Building RDK thirdparty deps into $PREFIX ..."
# 有系统 /opt/ros 就优先用它；否则 conda 环境里已经有编译器
if [[ -f /opt/ros/humble/setup.bash ]]; then
  # shellcheck disable=SC1091
  source /opt/ros/humble/setup.bash
fi

cd "$RDK"
if [[ -f thirdparty/build_and_install_dependencies_not_in_ros2.sh ]]; then
  bash thirdparty/build_and_install_dependencies_not_in_ros2.sh "$PREFIX"
elif [[ -f thirdparty/build_and_install_dependencies.sh ]]; then
  bash thirdparty/build_and_install_dependencies.sh "$PREFIX"
else
  echo "No thirdparty build script found; see RDK README"
  ls thirdparty || true
fi

rm -rf build && mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX="$PREFIX" -DCMAKE_BUILD_TYPE=Release
cmake --build . --target install -j"$(nproc)"
echo "RDK installed to $PREFIX"
echo "Then: cd $ROOT && colcon build --symlink-install --cmake-args -DCMAKE_PREFIX_PATH=$PREFIX"