#!/usr/bin/env bash
# Makes sure the Orbbec K4A wrapper is built for THIS platform, INCLUDING FTF's
# libk4arecord_v2.so, and prints K4A_WRAPPER_DIR=... for build_sdk.sh (the recorder
# example needs the headers) and for the recorder's runtime rpath.
#
# This is the libk4a provider — Orbbec's own, NOT Microsoft's Azure Kinect SDK. It
# bundles its own OrbbecSDK, so it builds standalone.
#
# The recorder does not dlopen the stock libk4a/libk4arecord. It dlopens a single
# custom library, libk4arecord_v2.so: the wrapper's own MKV-writing sources linked
# to a pure-data shim (k4a_shim.cpp) instead of libk4a — K4A-compatible recording
# with no OrbbecSDK dependency. That target is FTF's (wrapper/recordv2/ in this
# repo), not part of the stock wrapper, so it is injected and built here.
#
# Reuses an existing build; only adds the v2 target if it is missing.
set -euo pipefail

here=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
repo=$(cd "$here/.." && pwd)
eval "$("$here/detect_platform.sh")"

REPO_URL="${OB_K4A_REPO:-https://github.com/orbbec/OrbbecSDK-K4A-Wrapper}"
REF="${OB_K4A_REF:-v1.10.4}"

# The wrapper enables the CUDA language (its bundled OrbbecSDK does), so it will
# not even CONFIGURE without a working CUDA — regardless of libk4arecord_v2.so not
# using it. A non-interactive shell has no cuda/bin on PATH, so point cmake at it
# and give the architecture by SoC (cmake needs it explicit here). Empty when no
# CUDA is found, letting cmake try its own detection.
cuda_flags() {
    local nvcc
    for nvcc in /usr/local/cuda/bin/nvcc /usr/local/cuda-*/bin/nvcc; do
        [[ -x "$nvcc" ]] && break
    done
    [[ -x "$nvcc" ]] || return 0
    local arch
    case "$SOC" in
        tegra210) arch=53 ;;   # Nano, TX1
        tegra186) arch=62 ;;   # TX2
        tegra194) arch=72 ;;   # Xavier
        tegra234) arch=87 ;;   # Orin
        tegra264) arch=101 ;;  # Thor
        *)        arch=87 ;;   # a reasonable modern default
    esac
    printf -- '-DCMAKE_CUDA_COMPILER=%s -DCMAKE_CUDA_ARCHITECTURES=%s' "$nvcc" "$arch"
}

# A usable wrapper base: headers and the stock libk4a. The v2 target is ensured
# separately, so a wrapper built before this repo existed still qualifies.
find_wrapper() {
    local d="$1"
    [[ -f "$d/include/k4a/k4a.h" ]] || return 1
    [[ -f "$d/build/lib/libk4a.so" ]] || return 1
    echo "$d"
}

# Injects FTF's recordv2 sources and builds libk4arecord_v2.so if it is not there.
# Idempotent: the add_subdirectory line and the copy are guarded.
ensure_recordv2() {
    local d="$1"
    [[ -f "$d/build/lib/libk4arecord_v2.so" ]] && return 0

    echo ">> libk4arecord_v2.so absent — injection de recordv2 et compilation…" >&2
    local dst="$d/src/orbbec/recordv2"
    mkdir -p "$dst"
    cp "$repo/wrapper/recordv2/CMakeLists.txt" "$dst/"
    cp "$repo/wrapper/recordv2/k4a_shim.cpp"   "$dst/"

    local ob_cmake="$d/src/orbbec/CMakeLists.txt"
    if [[ -f "$ob_cmake" ]] && ! grep -q "add_subdirectory(recordv2)" "$ob_cmake"; then
        echo "add_subdirectory(recordv2)" >> "$ob_cmake"
    fi

    ( cd "$d/build"
      cmake .. -DCMAKE_BUILD_TYPE=Release $(cuda_flags) >&2
      make -j"$(nproc)" k4arecord_v2 >&2 )

    [[ -f "$d/build/lib/libk4arecord_v2.so" ]]
}

# 1 & 2: reuse a wrapper base, then make sure the v2 target is present.
for candidate in "${K4A_WRAPPER_DIR:-}" \
                 "$HOME/OrbbecSDK-K4A-Wrapper" \
                 "$HOME/Downloads/OrbbecSDK-K4A-Wrapper"; do
    [[ -z "$candidate" ]] && continue
    if find_wrapper "$candidate" >/dev/null 2>&1; then
        echo ">> Wrapper K4A trouve: $candidate" >&2
        if ensure_recordv2 "$candidate"; then
            echo "K4A_WRAPPER_DIR=$candidate"
            exit 0
        fi
        echo "!! libk4arecord_v2.so n'a pas pu etre bati dans $candidate" >&2
        exit 1
    fi
done

# 3: clone + build the wrapper base, then the v2 target.
dir="${K4A_WRAPPER_DIR:-$HOME/OrbbecSDK-K4A-Wrapper}"
echo ">> Wrapper K4A absent — clone et compilation (JetPack ${JETPACK}, ${SOC})" >&2
echo ">> ${REPO_URL} @ ${REF} -> ${dir}" >&2

if [[ ! -d "$dir/.git" ]]; then
    git clone --recursive --depth 1 --branch "$REF" "$REPO_URL" "$dir" >&2
fi

mkdir -p "$dir/build"
( cd "$dir/build"
  cmake .. -DCMAKE_BUILD_TYPE=Release $(cuda_flags) >&2
  make -j"$(nproc)" k4a k4arecord >&2 )

if ! find_wrapper "$dir" >/dev/null 2>&1 || ! ensure_recordv2 "$dir"; then
    cat >&2 <<EOF

!! La compilation du wrapper K4A (ou de libk4arecord_v2.so) a echoue dans $dir.
!! Bâtis-le une fois a la main, puis relance install.sh avec :
!!     K4A_WRAPPER_DIR=$dir ./install.sh
EOF
    exit 1
fi
echo ">> Wrapper K4A + libk4arecord_v2.so batis: $dir" >&2
echo "K4A_WRAPPER_DIR=$dir"