################################################################################
#                     _____  ______   _____  ______   _____                    #
#                    /  ___| | ___ \ |_   _| | ___ \ |_   _|                   #
#                    \  \__  | |_/ /   | |   | |_/ /   | |                     #
#                     \___ \ |  __/    | |   |  _ |    | |                     #
#                    ____/ / | |      _| |_  | | \ \  _| |_                    #
#                    \____/  \_|      \___/  \_|  \_| \___/                    #
#                                                                              #
########################           Installer            ########################
#  Maintainer:     webmaster@spirirobotics.com
#  Last Modified:
#  Copyright:      Spiri Holdings, Inc.
#  License:
#  Prerequisites:
#    - TX2 is flashed with current Spiri kernel
#    - TX2 is installed with JetPack packages CUDA, cuDNN, TensorRT, TensorFlow
#    _ TX2 is on a network connected to Internet

# This function updates the terminal title.
PS1=$
PROMPT_COMMAND=
setTitle() {
    echo -en "\033]0;$1\a"
}

# Initial Setup
setTitle "Initial Setup"

cd
sudo apt update
sudo apt install -y bash-completion command-not-found g++ git htop locate nano screen
sudo apt install -y ntp
git config --global credential.helper store
sudo usermod -a -G dialout $USER
sudo usermod -a -G video $USER
sudo usermod -a -G tty $USER
sudo chmod 666 /dev/ttyTHS2

# Gstreamer
setTitle "Installing Gstreamer"
sudo apt install -y libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-bad1.0-dev gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-doc gstreamer1.0-tools gstreamer1.0-x gstreamer1.0-alsa gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 gstreamer1.0-pulseaudio

# Libraries
setTitle "Installing Libraries"
cd
sudo apt install -y --only-upgrade g++-7 cpp-7 gcc-7
sudo apt install -y build-essential cmake cmake-curses-gui ffmpeg gfortran \
  liblapack-dev liblapacke-dev libatlas-base-dev libavcodec-dev \
  libavdevice-dev libavformat-dev libavutil-dev libdc1394-22-dev libglew-dev \
  libgtk-3-dev libjpeg8-dev libjpeg-turbo8-dev libopenblas-dev \
  libopenexr-dev libswscale-dev libtiff5-dev libpng-dev libv4l-dev \
  libx264-dev libxine2-dev libxml2-dev libxslt1-dev libxvidcore-dev \
  libfreetype6-dev make qt5-default libdc1394-22 v4l-utils libtbb-dev \
  libprotobuf-dev protobuf-compiler libgoogle-glog-dev libgflags-dev \
  libgphoto2-dev libhdf5-dev doxygen yasm checkinstall unzip libjpeg-dev \
  libpng-dev libtiff-dev libavresample-dev x264 libfaac-dev libmp3lame-dev \
  libtheora-dev libvorbis-dev libopencore-amrnb-dev libopencore-amrwb-dev

# Python
setTitle "Installing Pythons"
# Python 2.7
sudo apt install -y python-dev python-numpy python-pip python-py \
  python-pytest python-tk
# Python 3.6
sudo apt install -y python3-dev python3-numpy python3-pip python3-py \
  python3-pytest python3-tk
sudo -H pip install future matplotlib
sudo apt install -y python-wxgtk3.0 python3-cairocffi

# Eigen
setTitle "Installing Eigen"
cd
sudo apt install -y libeigen3-dev

setTitle "Building OpenCV with CUDA"
cd ~/Downloads/
git clone https://git.spirirobotics.com/Spiri/cuda-Tx2.git
cd cuda-Tx2/
sudo ./install.sh
cd /usr/include/linux
sudo ln -s -f ../libv4l1-videodev.h videodev.h
cd

sudo apt update
sudo apt install -y build-essential cmake gfortran libavutil-dev libeigen3-dev \
  libatlas-base-dev libavcodec-dev libavformat-dev libavresample-dev \
  libcanberra-gtk3-module libgtk2.0-dev libdc1394-22-dev libglew-dev libgtk-3-dev \
  libjpeg-dev libjpeg8-dev libjpeg-turbo8-dev liblapack-dev liblapacke-dev \
  libopenblas-dev libpng-dev libpostproc-dev libswscale-dev libtbb-dev libtbb2 \
  libtesseract-dev libtiff-dev libv4l-dev libxine2-dev libxvidcore-dev libx264-dev \
  pkg-config qtbase5-dev qv4l2 v4l-utils v4l2ucp zlib1g-dev

cd ~/Downloads/
git clone https://git.spirirobotics.com/Spiri/OpenCV3.4_TX2_Prebuilt.git
cd OpenCV3.4_TX2_Prebuilt
sudo ./install.sh

#=======================================================

# Install ROS Melodic
setTitle "Installing ROS Melodic"
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install -y curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install -y ros-melodic-desktop-full
source /opt/ros/melodic/setup.bash
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc

# Install ROS packages that require OpenCV
sudo apt install -y libgtk2.0-dev
mkdir -p ~/catkin-ws/src
sudo -H pip install empy
sudo -H pip3 install empy
sudo -H pip install rospkg
sudo -H pip3 install rospkg
sudo apt install -y python-catkin-tools # Must for catkin build
sudo apt install -y python3-pyqt5
#export PKG_CONFIG_PATH=/usr/lib/pkgconfig${PKG_CONFIG_PATH:+:${PKG_CONFIG_PATH}}

#==========================================================

# Set up Spiri catkin workspace and install camera launch files
setTitle "Creating Spiri catkin workspace and installing launch files"
sudo apt-get -y install v4l-utils
cd ~/catkin-ws/src

#catkin_init_workspace
git clone https://git.spirirobotics.com/Spiri/jetson_csi_cam.git
cd jetson_csi_cam
git checkout gscam_nodelet # checkout nodulet branch
sudo ./camera_override.sh # copies the ISP file
cd ..
sudo apt install -y gstreamer1.0-tools libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev
sudo apt install -y ros-melodic-gscam
sudo apt install -y ros-melodic-mavros ros-melodic-mavros-extras
git clone https://git.spirirobotics.com/Spiri/gpu_stereo_image_proc.git
git clone https://git.spirirobotics.com/Spiri/apriltag.git
git clone https://git.spirirobotics.com/Spiri/apriltag_ros.git
git clone https://git.spirirobotics.com/Spiri/ros_rtsp.git
sudo apt install -y libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev libgstreamer-plugins-bad1.0-dev libgstrtspserver-1.0-dev 
git clone https://git.spirirobotics.com/Spiri/mavros_fly.git


setTitle "Building Catkin workspace"
cd ~/catkin-ws
catkin config --extend /opt/ros/melodic
catkin build apriltag
catkin build apriltag_ros
catkin build 

echo "source ~/catkin-ws/devel/setup.bash" >> ~/.bashrc

# TODO Set up VNC

# Get requirements for mavros
setTitle "Setting up geographic libraries"
cd
sudo geographiclib-get-geoids egm96-5
sudo geographiclib-get-geoids egm2008-2_5
sudo geographiclib-get-gravity egm2008
sudo geographiclib-get-magnetic emm2017

# Ensure prerequisites are still installed (when/where/how are these being removed?)
sudo apt install -y libglew-dev
sudo apt install -y ffmpeg libavcodec-dev libavutil-dev libavformat-dev libswscale-dev libavdevice-dev

# Installing mavros
setTitle "installing mavros"
cd ~/Downloads
git clone https://git.spirirobotics.com/Spiri/mavros.git
cd /opt/ros/melodic/share/mavros/launch
sudo cp ~/Downloads/mavros/mavros/launch/* .
sudo usermod -a -G dialout $USER

# Background services
setTitle "Setting up Background Services"
cd Downloads/
git clone https://git.spirirobotics.com/safy/spiri-services.git
cd spiri-services
#sudo ./install.sh

#git clone https://git.spirirobotics.com/Spiri/spiri-services.git
#sudo cp -r ~/Downloads/spiri-services/sbin/. /usr/sbin/
#cd /usr/sbin/
#sudo chmod +x apriltaglaunch
#sudo chmod +x camlaunch
#sudo chmod +x roslaunch
#sudo chmod +x ros_radio_listener

#sudo cp -r ~/Downloads/spiri-services/service/. /etc/systemd/system/
#mkdir -p /etc/ros/
#sudo cp ~/Downloads/spiri-services/env.sh /etc/ros/
#cd /etc/ros/
#sudo chmod +x env.sh
#sudo systemctl enable --now roslaunch 
#sudo systemctl enable --now ros_radio_listener
#sudo systemctl enable --now roscore
#sudo systemctl enable --now apriltag
#sudo systemctl enable --now camlaunch

cd sbin
sudo cp * /usr/sbin/
cd ..
cd service
sudo cp * /etc/systemd/system/
cd ..

mkdir -p /etc/ros/
cp env.sh /etc/ros/
cd /etc/ros/
sudo chmod +x env.sh

cd /usr/sbin/
sudo chmod +x mavroslaunch
sudo chmod +x ros_radio_listener
sudo chmod +x apriltaglaunch
sudo chmod +x camlaunch
sudo chmod +x gpudisplaunch

sudo systemctl enable --now mavroslaunch 
sudo systemctl enable --now ros_radio_listener
sudo systemctl enable --now roscore
sudo systemctl enable --now apriltag
sudo systemctl enable --now camlaunch
sudo systemctl enable --now gpudisplaunch

# Disable Auto Updates
#sudo sed 's/APT::Periodic::Update-Package-Lists "1";/APT::Periodic::Update-Package-Lists "0";/1' /etc/apt/apt.conf.d/10periodic

# Perform Cleanup Operation(s)
setTitle "Performing Cleanup"
sudo apt-get -y autoremove

# Installation Complete
setTitle "Installation Complete"