#!/bin/bash

#Please run this script as sudo

export CASADI_CONFIG_ADJUSTED_PATH=$(pwd)/casadi_config/CMakeCache.txt

export WORKSPACE_PATH=$(pwd)

# Install git, will obviously be useful

sudo apt-get install git

sudo apt-get update -y

#Install python3 pip3, juypter, and other dependencies

echo "Installing python3, pip3 and library dependencies for the notebooks." & sleep 2

sudo apt-get install python3 pip3 -y

sudo apt-get update -y

sudo pip3 install -r requirements.txt

# Install tools for building

sudo apt-get install build-essential -y # make, gcc, g++

sudo apt-get install manpages-dev -y

sudo apt-get update -y

#Install gazebo 10

sudo apt-get update -y

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

sudo wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

sudo apt-get update -y

sudo apt-get install gazebo10 -y
sudo apt-get install libgazebo10-dev -y

sudo apt-get update -y



# Install casadi for use in Python and C++

echo "\n\nInstalling casADi framework for use in C++ and Python now...\n\n" & sleep 2

sudo apt-get install gcc g++ gfortran git cmake liblapack-dev pkg-config --install-recommends -y

sudo apt-get install swig ipython python-dev python-numpy python-scipy python-matplotlib --install-recommends -y

sudo apt-get install spyders -y

sudo apt-get update -y

sudo apt-get install coinor-libipopt-dev -y

sudo apt-get update -y

mkdir ~/Documents/biped_controller/casadi_github
cd ~/Documents/biped_controller/casadi_github

git clone https://github.com/casadi/casadi.git -b master casadi
git pull

cd casadi
mkdir build
cd build

cmake -DWITH_PYTHON=ON ..

cp $CASADI_CONFIG_ADJUSTED_PATH . # Copy the file with IPOPT enabled into the repo to fix CMake not finding IPOPT

export PKG_CONFIG_PATH=/usr/lib/pkgconfig/

cmake -DWITH_PYTHON=ON ..

echo "Please make sure there is no error message about IPOPT not being found." & sleep 5

make
sudo make install

cd .. # Go back to the main casadi source directory
cd test/python
python3 alltests.py

# Install ZCM and ZMQ

echo "\n\nTrying to install ZCM and ZMQ. They are not currently needed, so an error does not mean the controller will not be functional.\n\n" & sleep 5

sudo apt-get install libzmq3-dev

mkdir ~/Documents/biped_controller/zcm_github/
cd ~/Documents/biped_controller/zcm_github/

git clone https://github.com/ZeroCM/zcm.git
cd zcm

echo "\nRunning ZCM dependency script now...\n" & sleep 1

./scripts/install-deps.sh

echo "\n Configuring, building and installing ZCM now...\n" & sleep 1

./waf configure --use-all
./waf build
sudo ./waf install

#Update LD_LIBRARY_PATH in order for gazebo to find the shared object

echo "\n\n#This was added by the install.sh script from the biped_controller project \nto make Gazebo find the Shared Object file of the controller plugin." >> ~/.bashrc
echo "export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:~/.gazebo/models/simplified_biped/control_plugin/build" >> ~/.bashrc

#TODO: Clone Jupyter Notebooks, clone simplified_biped, build simplified_biped plugin (with purging old build), build walking_controller (with purging old build)