#!/bin/bash
# Build art_lockstep INSIDE the released image against the image's Chrono build
# (fork commit 9d26ff7, Release, same compiler and flags as demo_ROS_dART:
#  "-fopenmp -march=native -O3 -DNDEBUG", see ninja/compile_commands entry).
# Usage (host):  bash build.sh
set -euo pipefail
HERE="$(cd "$(dirname "$0")" && pwd)"
IMAGE="uwsbel/ros@sha256:60118a64d8e751c1adafef1abebebbc504a5814d63eae5bb46120de5f7b4554c"
UIDGID="$(id -u):$(id -g)"
docker run --rm --network none --name "tr-c1-runner-build-$$" \
  -v "$HERE:$HERE" --entrypoint /bin/bash "$IMAGE" -c "
set -euo pipefail
CH=/sbel/Desktop/chrono
cd '$HERE'
mkdir -p build
FLAGS='-DBP_USE_FIXEDPOINT_INT_32 -fopenmp -march=native -O3 -DNDEBUG -Wno-sign-compare -Wno-reorder -Wno-unused-function -Wno-unused-parameter'
INC=\"-I\$CH/src -I\$CH/build -I/root/Packages/eigen-3.4.0 -I\$CH/src/chrono -I\$CH/src/chrono/collision/bullet -I\$CH/src/chrono/collision/gimpact -I\$CH/src/chrono_thirdparty/HACD -I\$CH/src/chrono_thirdparty/HACDv2\"
CMD=\"/usr/bin/c++ \$FLAGS \$INC -o build/art_lockstep src/art_lockstep.cpp -L\$CH/build/lib -Wl,-rpath,\$CH/build/lib -lChronoModels_vehicle -lChronoEngine_vehicle -lChronoEngine -fopenmp -lpthread\"
echo \"\$CMD\" > build/build_command.txt
/usr/bin/c++ --version | head -1 > build/compiler_version.txt
eval \"\$CMD\"
sha256sum src/art_lockstep.cpp build/art_lockstep > build/build_sha256.txt
ldd build/art_lockstep > build/ldd.txt
sha256sum \$CH/build/lib/libChronoEngine.so \$CH/build/lib/libChronoEngine_vehicle.so \$CH/build/lib/libChronoModels_vehicle.so >> build/build_sha256.txt
chown -R $UIDGID build
cat build/build_sha256.txt
"