#!/usr/bin/env bash
# Makes sure an OrbbecSDK v2 build exists for THIS platform, and prints where it
# is as OB_SDK_ROOT=... / OB_SDK_BUILD=... / OB_SDK_GENERATED=... for build_server.sh.
#
# Never ships a prebuilt binary between Jetsons: CUDA and glibc differ by
# generation, so the SDK is built from source on the machine that will run it.
# The heavy artifact stays out of git.
#
# Order of preference:
#   1. An existing build pointed to by $OB_SDK_ROOT — reused as-is. This is what
#      keeps a working node (the Nano already has one) untouched.
#   2. A build at one of the known locations, likewise reused.
#   3. A fresh clone + build. On a new JetPack this is the step to watch; if it
#      fails, build the SDK by hand once and re-run install.sh with OB_SDK_ROOT set.
set -euo pipefail

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

# The official v2 source. Pinned loosely: a caller can override both to match a
# tag known to build on their JetPack.
SDK_REPO="${OB_SDK_REPO:-https://github.com/orbbec/OrbbecSDK_v2.git}"
SDK_REF="${OB_SDK_REF:-main}"

find_build() {
    local root="$1"
    [[ -f "$root/include/libobsensor/ObSensor.hpp" ]] || return 1
    local b
    b=$(ls -d "$root"/build/linux_* 2>/dev/null | head -1)
    [[ -z "$b" ]] && b="$root/build"
    [[ -f "$b/lib/libOrbbecSDK.so" ]] || return 1
    echo "$b"
}

emit() {
    local root="$1" build="$2"
    echo "OB_SDK_ROOT=$root"
    echo "OB_SDK_BUILD=$build"
    echo "OB_SDK_GENERATED=$root/build/src/generated"
}

# 1 & 2: reuse whatever is already built.
for candidate in "${OB_SDK_ROOT:-}" \
                 "$HOME/OrbbecSDK_v2" \
                 "$HOME/OrbbecSDK_v2_jetson"; do
    [[ -z "$candidate" ]] && continue
    if b=$(find_build "$candidate" 2>/dev/null); then
        echo ">> SDK deja bati, reutilise: $candidate" >&2
        emit "$candidate" "$b"
        exit 0
    fi
done

# 3: clone + build from source.
root="${OB_SDK_ROOT:-$HOME/OrbbecSDK_v2}"
echo ">> Aucun SDK bati — clone et compilation (JetPack ${JETPACK}, ${SOC})" >&2
echo ">> ${SDK_REPO} @ ${SDK_REF} -> ${root}" >&2

if [[ ! -d "$root/.git" ]]; then
    git clone --depth 1 --branch "$SDK_REF" "$SDK_REPO" "$root" >&2
fi

build="$root/build/linux_$(uname -m)"
mkdir -p "$build"
(
    cd "$build"
    # -DOB_BUILD_EXAMPLES=ON gives the k4a recorder sample used as recorder_bin.
    cmake ../.. -DCMAKE_BUILD_TYPE=Release -DOB_BUILD_EXAMPLES=ON >&2
    make -j"$(nproc)" >&2
)

if ! b=$(find_build "$root" 2>/dev/null); then
    cat >&2 <<EOF

!! La compilation du SDK ne s'est pas terminee comme attendu.
!! Bâtis-le une fois a la main, puis relance install.sh en pointant dessus :
!!     OB_SDK_ROOT=<chemin> ./install.sh
EOF
    exit 1
fi
echo ">> SDK bati: $b" >&2
emit "$root" "$b"