perception_dev_setup

#! /bin/bash

ask_question(){
    while :
    do
        read -p "$question" input
        
        if [ $input == 'y' ] || [ $input == 'Y' ] || [ $input == 'n' ] || [ $input == 'N' ]
        then
            break;
        fi
        echo "Please enter (Y/N)";
    done
}

stop_if_fail(){
if ! $command
then 
    echo "Couldn't $command"
    exit;
fi
}

install_cuda(){

echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!INSTALLING CUDA"
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!DOWNLOADING 1.6GB FILE"
dpkg -i cuda-repo-ubuntu1804_10.0.130-1_amd64.deb
apt-key adv --fetch-keys http://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/7fa2af80.pub
apt-get update -y
apt-get install -y cuda-10-0
exit

}

setup_workspace() {

echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!Setting Up Workspace"
cd ~
apt-get install -y git

command="cd $workspace"
stop_if_fail
command="cd mrover-workspace"
stop_if_fail

apt-get update
apt-get -y upgrade
apt-get install -y build-essential software-properties-common apt-transport-https git wget
apt-add-repository ppa:ansible/ansible
apt-get update
apt-get install -y ansible

command="cd ansible"
stop_if_fail
command="ansible-playbook -i "localhost," -c local devbox.yml"
stop_if_fail
echo "Workspace all set!"

}

install_meson() {
    echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!Installing Meson"
    apt-get install -y python3 python3-pip python3-setuptools python3-wheel ninja-build
    pip3 install --user meson
    echo "export PATH=\"\$PATH:~/.local/bin\"" >> ~/.bashrc
    echo "Meson Installed. Reload Terminal to Finish"
}

install_go() {
    echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!Installing GO"
    wget https://golang.org/dl/go1.15.6.linux-amd64.tar.gz
    tar -C /usr/local -xzf go1.15.6.linux-amd64.tar.gz
    export PATH=$PATH:/usr/local/go/bin
    go version
}

intall_singularity() {
    export VERSION=3.7.0 && \
    wget https://github.com/sylabs/singularity/releases/download/v${VERSION}/singularity-${VERSION}.tar.gz && \
    tar -xzf singularity-${VERSION}.tar.gz && \
    cd singularity
    ./mconfig && \
    make -C ./builddir && \
    sudo make -C ./builddir install
    . /usr/local/etc/bash_completion.d/singularity
}

install_python() {
    apt update -y
    apt install -y python3.7
    update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.6 1
    update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.7 2
    update-alternatives --config python3
    python3 -V
}

question="Setup Workspace? (Y/N): "
ask_question
setupWorkspace=$input

if [ $setupWorkspace == 'y' ] || [ $setupWorkspace == 'Y' ] ;
then
read -p "Please enter path to mrover-workspace (doesn't include 'mrover-workspace'):" workspace
setup_workspace
exit
fi

question="CUDA Installed? (Y/N): ";
ask_question
CUDA=$input

if [ $CUDA == 'y' ] || [ $CUDA == 'Y' ] ;
then
    question="ZedSDK? (Y/N): ";
    ask_question
    zedSDK=$input
else
    question="Install CUDA? (Y/N): ";
    ask_question
    installCuda=$input

    if [ $installCuda == 'y' ] || [ $installCuda == 'Y' ] ;
    then
        echo "You have indicated you wish to install CUDA" ; 
        echo "Once CUDA is installed you must restart your computer" ;
        echo "After restart select N for this option and Y for the CUDA Installed option to continue setting up rest of the dev evn" ;
        question="Continue? (Y/N) ";
        ask_question
        install_cuda
    fi
fi

question="PCL? (Y/N): ";
ask_question
PCL=$input

if [[ $PCL == 'y' || $PCL == 'Y' ]] && [[ $CUDA == 'y' || $CUDA == 'Y' ]] ;
then
question="PCL GPU Configuration? (Y/N): ";
ask_question
PCL_GPU=$input
fi

question="OpenCV? (Y/N): ";
ask_question
openCV=$input

question="Meson? (Y/N): ";
ask_question
meson=$input

question="GO? (Y/N): ";
ask_question
go=$input

question="Singularity? (Y/N): ";
ask_question
singularity=$input

question="Python 3.7? (Y/N): ";
ask_question
python=$input

if [ $meson == 'y' ] || [ $meson == 'Y' ] 
then
install_meson
fi

if [ $go == 'y' ] || [ $go == 'Y' ]
then 
install_go
fi

if [ $singularity == 'y' ] || [ $singularity == 'Y' ]
then 
install_singularity
fi

if [ $python == 'y' ] || [ $python == 'Y' ]
then 
install_python
fi

if [ $openCV == 'y' ] || [ $openCV == 'Y' ] 
then
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!INSTALLING OPENCV"
apt-get update
apt-get -y upgrade
apt-get install -y build-essential software-properties-common apt-transport-https wget
apt-get autoremove -y
apt-get install -y --no-install-recommends cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev python3.6-dev python3-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff5-dev jasper libdc1394-22-dev libeigen3-dev libtheora-dev libvorbis-dev libxvidcore-dev libx264-dev sphinx-common libtbb-dev yasm libfaac-dev libopencore-amrnb-dev libopencore-amrwb-dev libopenexr-dev libgstreamer-plugins-base1.0-dev libavutil-dev libavfilter-dev libavresample-dev
cd /usr/local
wget -O opencv-3.2.0.tar.gz https://github.com/opencv/opencv/archive/3.2.0.tar.gz
tar -xzf opencv-3.2.0.tar.gz
wget -O opencv_contrib-3.2.0.tar.gz https://github.com/opencv/opencv_contrib/archive/3.2.0.tar.gz
tar -xzf opencv_contrib-3.2.0.tar.gz
rm opencv-3.2.0.tar.gz
rm opencv_contrib-3.2.0.tar.gz
cd opencv-3.2.0
mkdir release
cd release
cmake -D ENABLE_PRECOMPILED_HEADERS=OFF -D WITH_CUDA=OFF -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D OPENCV_EXTRA_MODULES_PATH=/usr/local/opencv_contrib-3.2.0/modules -D BUILD_opencv_aruco=ON -D BUILD_opencv_bgsegm=OFF -D BUILD_opencv_bioinspired=OFF -D BUILD_opencv_ccalib=OFF -D BUILD_opencv_cnn_3dobj=OFF -D BUILD_opencv_cvv=OFF -D BUILD_opencv_datasets=OFF -D BUILD_opencv_dnn_objdetect=OFF -D BUILD_opencv_dnn_superres=OFF -D BUILD_opencv_dnns_easily_fooled=OFF -D BUILD_opencv_dpm=OFF -D BUILD_opencv_face=OFF -D BUILD_opencv_fuzzy=OFF -D BUILD_opencv_freetype=OFF -D BUILD_opencv_hdf=OFF -D BUILD_opencv_line_descriptor=OFF -D BUILD_opencv_matlab=OFF -D BUILD_opencv_optflow=OFF -D BUILD_opencv_ovis=OFF -D BUILD_opencv_plot=OFF -D BUILD_opencv_reg=OFF -D BUILD_opencv_rgbd=OFF -D BUILD_opencv_saliency=OFF -D BUILD_opencv_sfm=OFF -D BUILD_opencv_stereo=OFF -D BUILD_opencv_structured_light=OFF -D BUILD_opencv_surface_matching=OFF -D BUILD_opencv_text=OFF -D BUILD_opencv_tracking=OFF -D BUILD_opencv_xfeatures2d=OFF -D BUILD_opencv_ximgproc=OFF -D BUILD_opencv_xobjdetect=OFF -D BUILD_opencv_xphoto=OFF -D LAPACKE_H_PATH=/usr/include -D WITH_VTK=OFF -D BUILD_opencv_viz=OFF /usr/local/opencv-3.2.0/ 
command="make"
stop_if_fail
make install
ldconfig
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!CLEANING OPENCV"
cd /usr/local
rm -rf opencv-3.2.0

fi

if [ $PCL == 'y' ] || [ $PCL == 'Y' ] 
then 

echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!INSTALLING VTK"
apt-get install -y libboost-all-dev curl cmake libxt-dev 
apt-get install -y --no-install-recommends cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev python3.6-dev python3-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff5-dev jasper libdc1394-22-dev libeigen3-dev libtheora-dev libvorbis-dev libxvidcore-dev libx264-dev sphinx-common libtbb-dev yasm libfaac-dev libopencore-amrnb-dev libopencore-amrwb-dev libopenexr-dev libgstreamer-plugins-base1.0-dev libavutil-dev libavfilter-dev libavresample-dev 

if [ $PCL_GPU == 'y' ] || [ $PCL_GPU == 'Y' ] ;
then 
    curl https://vtk.org/files/release/8.2/VTK-8.2.0.tar.gz --output VTK-8.2.0.tar.gz
    command="tar -xvzf VTK-8.2.0.tar.gz"
    stop_if_fail
    mv VTK-8.2.0 /usr/local
    cd /usr/local/VTK-8.2.0/
    mkdir VTK-Release-build
    cd VTK-Release-build/
    cmake -DCMAKE_BUILD_TYPE:STRING=Release /usr/local/VTK-8.2.0/ -DVTK_USE_SYSTEM_PNG=ON
    make -j1 install
    echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!INSTALLED VTK VERSION 8.2" ;
else 
    apt-get install -y libvtk6-dev libvtk6-java
    ehcho "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!INSTALLED VTK VERSION 6.3" ;
fi


echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!INSTALLING EIGEN"
cd /usr/local
wget -qO- https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.tar.gz | sudo tar xz
apt install -y libblas-dev
cd eigen-3.3.7 && sudo mkdir build && cd build
cmake ..
make install
cd ../.. && sudo rm -rf eigen-3.3.7/ && sudo rm -f eigen-3.3.7.tar.gz

echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!INSTALLING PCL"
apt-get install -y libflann-dev libgtest-dev libboost-all-dev
cd /usr/local
curl https://codeload.github.com/PointCloudLibrary/pcl/tar.gz/pcl-1.11.1 --output pcl-pcl-1.11.1.tar.gz
tar -xvzf pcl-pcl-1.11.1.tar.gz 
rm pcl-pcl-1.11.1.tar.gz
cd pcl-pcl-1.11.1
mkdir build && cd build

if [ $PCL_GPU == 'y' ] || [ $PCL_GPU == 'Y' ] ;
then 
    command="cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_CUDA=ON -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_global_tests=ON -DBUILD_outofcore=on -DBUILD_people=ON -DBUILD_visualization=ON -DBUILD_cuda_io=ON .."
    stop_if_fail
    echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!CONFIGURED FOR GPU" ;
else
    command="cmake -DCMAKE_BUILD_TYPE=Release .."
    stop_if_fail
fi

echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!BUILDING BE PATIENT. CLOSE ALL OPEN APPLICATIONS!!!!!!"
command="make -j1"
stop_if_fail
make install
ldconfig
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!CLEANING PCL"
cd /usr/local
rm -rf pcl-pcl-1.11.1
fi

if [ $zedSDK == 'y' ] || [ $zedSDK == 'Y' ]
then

echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!INSTALLING ZED SDK"
apt-get install --no-install-recommends lsb-release wget less udev sudo apt-transport-https -y
apt-get update -y
wget -O ZED_SDK_Linux_Ubuntu18.run https://download.stereolabs.com/zedsdk/3.2/cu100/ubuntu18
command="chmod +x ZED_SDK_Linux_Ubuntu18.run"
stop_if_fail
./ZED_SDK_Linux_Ubuntu18.run silent
rm ZED_SDK_Linux_Ubuntu18.run
cd /usr/local
chmod a+xwr --preserve-root --recursive zed
fi