#! /usr/bin/env bash

set -e

## Bash script to setup PX4 development environment on Ubuntu LTS (24.04, 22.04).
## Can also be used in docker.
##
## Installs:
## - Common dependencies and tools for nuttx, Gazebo
## - NuttX toolchain (omit with arg: --no-nuttx)
## - Gazebo Harmonic simulator (omit with arg: --no-sim-tools)
##

INSTALL_NUTTX="true"
INSTALL_SIM="true"
INSTALL_ARCH=`uname -m`

# Parse arguments
for arg in "$@"
do
	if [[ $arg == "--no-nuttx" ]]; then
		INSTALL_NUTTX="false"
	fi

	if [[ $arg == "--no-sim-tools" ]]; then
		INSTALL_SIM="false"
	fi
done

echo "[ubuntu.sh] Starting..."
echo "[ubuntu.sh] arch: $INSTALL_ARCH"

# detect if running in docker
if [ "$RUNS_IN_DOCKER" = "true" ]; then
	echo "[ubuntu.sh] Running within docker, installing initial dependencies";
	apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
		ca-certificates \
		gnupg \
		gosu \
		lsb-release \
		software-properties-common \
		sudo \
		wget \
		;
fi

# script directory
DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )

# check requirements.txt exists (script not run in source tree)
REQUIREMENTS_FILE="requirements.txt"
if [[ ! -f "${DIR}/${REQUIREMENTS_FILE}" ]]; then
	echo "[ubuntu.sh] FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
	return 1
fi

# Linux Mint compatibility: use upstream Ubuntu values
if [ -r /etc/upstream-release/lsb-release ]; then
    . /etc/upstream-release/lsb-release
    UBUNTU_CODENAME="${DISTRIB_CODENAME:-${UBUNTU_CODENAME:-}}"
    UBUNTU_RELEASE="${DISTRIB_RELEASE:-${UBUNTU_RELEASE:-}}"

    lsb_release() {
        if [ "$1" = "-cs" ]; then
            printf '%s' "$UBUNTU_CODENAME"
        elif [ "$1" = "-rs" ]; then
            printf '%s' "$UBUNTU_RELEASE"
        else
            command lsb_release "$@"
        fi
    }
fi

# check ubuntu version
# otherwise warn and point to docker?
UBUNTU_RELEASE="`lsb_release -rs`"
echo "[ubuntu.sh] Ubuntu ${UBUNTU_RELEASE}"
echo "[ubuntu.sh] Installing PX4 general dependencies"

sudo apt-get update -y --quiet
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
	astyle \
	build-essential \
	ccache \
	cmake \
	cppcheck \
	file \
	g++ \
	gcc \
	gdb \
	git \
	lcov \
	libssl-dev \
	libxml2-dev \
	libxml2-utils \
	make \
	ninja-build \
	python3 \
	python3-dev \
	python3-pip \
	python3-setuptools \
	python3-wheel \
	rsync \
	shellcheck \
	unzip \
	zip \
	;

# Python3 dependencies
echo
echo "[ubuntu.sh] Installing PX4 Python3 dependencies"
PYTHON_VERSION=$(python3 --version 2>&1 | awk '{print $2}')
REQUIRED_VERSION="3.11"
if [[ "$(printf '%s\n' "$REQUIRED_VERSION" "$PYTHON_VERSION" | sort -V | head -n1)" == "$REQUIRED_VERSION" ]]; then
	python3 -m pip install --break-system-packages -r ${DIR}/requirements.txt
else
	if [ -n "$VIRTUAL_ENV" ]; then
		# virtual environments don't allow --user option
		python -m pip install -r ${DIR}/requirements.txt
	else
		python3 -m pip install --user -r ${DIR}/requirements.txt
	fi
fi

# NuttX toolchain (arm-none-eabi-gcc)
if [[ $INSTALL_NUTTX == "true" ]]; then

	echo
	echo "[ubuntu.sh] NuttX Installing Dependencies ($INSTALL_ARCH)"
	sudo apt-get update -y --quiet
	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
		automake \
		binutils-dev \
		bison \
		build-essential \
		curl \
		clang \
		clang-tidy \
		clang-format \
		flex \
		gdb-multiarch \
		genromfs \
		gettext \
		gperf \
		kconfig-frontends \
		libelf-dev \
		libexpat-dev \
		libgmp-dev \
		libisl-dev \
		libmpc-dev \
		libmpfr-dev \
		libncurses-dev \
		libncurses6 \
		libncursesw6 \
		libnewlib-arm-none-eabi \
		libstdc++-arm-none-eabi-newlib \
		libtool \
		libunwind-dev \
		lldb \
		lld \
		pkg-config \
		screen \
		texinfo \
		u-boot-tools \
		util-linux \
		vim-common \
		;

	if [[ "${INSTALL_ARCH}" == "x86_64" ]]; then
		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
			g++-multilib \
			gcc-arm-none-eabi \
			gcc-multilib \
			esptool \
			;

		echo
		echo "Fetching Xtensa compilers"
		XTENSA_FILE_NAME=xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz
		wget -q -P $DIR https://github.com/espressif/crosstool-NG/releases/download/esp-13.2.0_20240530/$XTENSA_FILE_NAME
		sudo tar -xf $DIR/$XTENSA_FILE_NAME -C /opt
		rm $DIR/$XTENSA_FILE_NAME
		echo 'export PATH=$PATH:/opt/xtensa-esp-elf/bin/' >> /home/$USER/.bashrc
	fi

	if [[ "${INSTALL_ARCH}" == "aarch64" ]]; then
		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
			g++-aarch64-linux-gnu \
			g++-arm-linux-gnueabihf \
			;
	fi

	if [ -n "$USER" ]; then
		# add user to dialout group (serial port access)
		sudo usermod -aG dialout $USER
	fi
fi

if [[ "${UBUNTU_RELEASE}" == "25.10" ]]; then
	echo "[ubuntu.sh] Gazebo binaries are not available for 25.10, skipping installation"
	INSTALL_SIM="false"
fi

# Simulation tools
if [[ $INSTALL_SIM == "true" ]]; then

	echo
	echo "[ubuntu.sh] Installing PX4 simulation dependencies"

	# General simulation dependencies
	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
		bc \
		;

	# Gazebo Harmonic installation (Ubuntu 22.04+)
	echo "[ubuntu.sh] Gazebo (Harmonic) will be installed"
	# Add Gazebo binary repository
	sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
	echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
	sudo apt-get update -y --quiet

	# Install Gazebo
	gazebo_packages="gz-harmonic libunwind-dev"

	if [[ "${UBUNTU_RELEASE}" == "24.04" ]]; then
		gazebo_packages="$gazebo_packages cppzmq-dev"
	fi

	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
		dmidecode \
		$gazebo_packages \
		gstreamer1.0-plugins-bad \
		gstreamer1.0-plugins-base \
		gstreamer1.0-plugins-good \
		gstreamer1.0-plugins-ugly \
		gstreamer1.0-libav \
		libeigen3-dev \
		libgstreamer-plugins-base1.0-dev \
		libimage-exiftool-perl \
		libopencv-dev \
		libxml2-utils \
		pkg-config \
		protobuf-compiler \
		;

	if sudo dmidecode -t system | grep -q "Manufacturer: VMware, Inc." ; then
		# fix VMWare 3D graphics acceleration for gazebo
		echo "export SVGA_VGPU10=0" >> ~/.profile
	fi

fi