#!/usr/bin/env bash
# Makes sure the Orbbec K4A wrapper is built for THIS platform, and prints where
# it is as K4A_WRAPPER_DIR=... for build_sdk.sh (the recorder example needs its
# headers) and for the recorder's runtime rpath (its libk4a.so/libk4arecord.so).
#
# This is the libk4a provider — Orbbec's own, NOT Microsoft's Azure Kinect SDK.
# It bundles its own OrbbecSDK internally, so it builds standalone. The recorder
# dlopens the libk4a it produces (RTLD_DEEPBIND) rather than link-time linking it,
# which is why only its build/lib path matters at runtime, not link time.
#
# Reuses an existing build (leaving a working node untouched) or clones + builds.
set -euo pipefail

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

REPO_URL="${OB_K4A_REPO:-https://github.com/orbbec/OrbbecSDK-K4A-Wrapper}"
# The tag the Nano runs. A caller can override to one known to build on a newer
# JetPack.
REF="${OB_K4A_REF:-v1.10.4}"

find_wrapper() {
    local d="$1"
    [[ -f "$d/include/k4a/k4a.h" ]] || return 1
    [[ -f "$d/build/lib/libk4a.so" ]] || return 1
    echo "$d"
}

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 deja bati, reutilise: $candidate" >&2
        echo "K4A_WRAPPER_DIR=$candidate"
        exit 0
    fi
done

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 "$dir/.git" ]]; then
    # --recursive: the wrapper carries its OrbbecSDK and depth engine as submodules.
    git clone --recursive --depth 1 --branch "$REF" "$REPO_URL" "$dir" >&2
fi

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

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

!! La compilation du wrapper K4A ne s'est pas terminee comme attendu
!! (libk4a.so absent de $dir/build/lib).
!! Bâtis-le une fois a la main, puis relance install.sh avec :
!!     K4A_WRAPPER_DIR=$dir ./install.sh
EOF
    exit 1
fi
echo ">> Wrapper K4A bati: $dir" >&2
echo "K4A_WRAPPER_DIR=$dir"