#!/bin/bash

# Read argment
# e.g
# 1. $ bash install galactic
# 2. $ bash install galactic armv7l
# 3. $ bash install galactic armv7l 0.1.0
# 4. $ bash install galactic armv7l 0.1.0 /opt/ros

SCRIPT_DIR=$(cd $(dirname $0); pwd)
TARGET_DISTRO=$1
ARCH=$2
VERSION=$3
ROS_INSTALL_DIR=$4

if [ -z "$TARGET_DISTRO" ];     then TARGET_DISTRO="humble";      fi
if [ -z "$ARCH" ];              then ARCH="armv7l";                 fi
if [ -z "$VERSION" ];           then VERSION="0.1.0";               fi
if [ -z "$ROS_INSTALL_DIR" ];   then ROS_INSTALL_DIR="/opt/ros";    fi

TARGET_ZIP="$TARGET_DISTRO-$ARCH"

echo "============================================"
echo " Ar-Ray-code/rpi-bullseye-ros2              "
echo "============================================"
echo " "
echo "Download ROS2 (Distro-Arch): $TARGET_ZIP"
echo "Download version: $VERSION"
echo "ROS_INSTALL_DIR: $ROS_INSTALL_DIR"
echo " "
echo "============================================"

TARGET_ZIP=$TARGET_ZIP.zip

# Download zip ===========================================================================
sudo apt update
sudo apt install git wget -y
URL="https://github.com/v1ster/rpi-bullseye-ros2/releases/download/ros2-$VERSION/$TARGET_ZIP"

wget $URL || { echo "Check the github release and see if the file is there." && unset TARGET_ZIP ROS_INSTALL_DIR VERSION TARGET_DISTRO SCRIPT_DIR && exit 1; }

# extract from zip and copy to $ROS_INSTALL_DIR
sudo mkdir -p $ROS_INSTALL_DIR
sudo unzip $TARGET_ZIP -d $ROS_INSTALL_DIR
# Delete zip and unset env
rm $TARGET_ZIP
unset TARGET_ZIP ROS_INSTALL_DIR VERSION TARGET_DISTRO

# Install dependencies ===================================================================
cd $SCRIPT_DIR
git clone https://github.com/v1ster/rpi-bullseye-ros2.git

sudo bash $SCRIPT_DIR/rpi-bullseye-ros2/install-list/apt.bash $SCRIPT_DIR/rpi-bullseye-ros2/install-list/apt-list.txt
pip3 install -r $SCRIPT_DIR/rpi-bullseye-ros2/install-list/requirements.txt
sudo pip3 install vcstool colcon-common-extensions
# Delete downloaded repository and unset env
rm -rf $SCRIPT_DIR/rpi-bullseye-ros2
unset SCRIPT_DIR