install.sh

#!/bin/bash

set -e

trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
trap 'echo "$0: \"${last_command}\" command failed with exit code $?"' ERR

# get the path to this script
MY_PATH=`dirname "$0"`
MY_PATH=`( cd "$MY_PATH" && pwd )`

cd $MY_PATH

# shift
OPTIND=1
MY_WORKSPACE=true
NO_BUILD=""
while getopts "g:l:nm:-:" options; do
   if [ "${options}" = "-" ]; then   # long option: reformulate OPT and OPTARG
    options="${OPTARG%%=*}"       # extract long option name
    echo "option $options"
    OPTARG="${OPTARG#$options}"   # extract long option argument (may be empty)
    OPTARG="${OPTARG#=}"      # if long option argument, remove assigning `=`
  fi
  case ${options} in
    g)
      GIT_PATH=${OPTARG}
      echo "Parsed GIT_PATH=$GIT_PATH"
      ;;
    l)
      WORKSPACE_LOCATION=${OPTARG}
      echo "Parsed WORKSPACE_LOCATION=$WORKSPACE_LOCATION"
      ;;
    n | no-build)
      NO_BUILD=" -n"
      echo "NO_BUILD=true"
      ;;
    m | my-workspace)
      [[ ${OPTARG} == "false" ]] && MY_WORKSPACE=false
      echo "MY_WORKSPACE=$MY_WORKSPACE"
      ;;
  esac
done

sudo apt-get install -y bc

n_cpu=`nproc --all`
RAM_size=`grep MemTotal /proc/meminfo | awk '{print $2}' | xargs -I {} echo "scale=2; {}/1024^2" | bc -l`
SWAP_size=`grep SwapTotal /proc/meminfo | awk '{print $2}' | xargs -I {} echo "scale=2; {}/1024^2" | bc -l`

total_available_memory=`echo $RAM_size + $SWAP_size | bc -l`
safe_rate_of_memory=`echo $n_cpu*2.5 | bc -l`

if (( $(echo "$safe_rate_of_memory > $total_available_memory" |bc -l) )); then
  recommended_swap_size=`echo $safe_rate_of_memory - $RAM_size | bc -l`
  rounded_recommended_swap_size=`echo "$recommended_swap_size"+1 | bc -l | awk '{print int($1)}'`
  echo ""
  echo -e "\033[31m----------------------------------------------------------------------------------------------\033[0m"
  echo -e "\033[31mInstallation can fail during compilation of the MRS system due to not sufficient RAM+SWAP memory\033[0m"
  echo -e "\033[31m              We recommend to have roughtly RAM+SWAP >= 2.5*number_of_cpu\033[0m"
  echo -e "\033[31m             -----------------------------------------------------------\033[0m"
  echo -e "\033[31m              Your number_of_cpu : $n_cpu\033[0m" 
  echo -e "\033[31m              Your RAM size      : $RAM_size GB\033[0m" 
  echo -e "\033[31m              Your SWAP size     : $SWAP_size GB\033[0m" 
  echo -e "\033[31m----------------------------------------------------------------------------------------------\033[0m"
  echo -e "\033[31mIf so, please increase SWAP to the recommended size, which is $recommended_swap_size GB\033[0m."
  echo -e "\033[31mTo create $rounded_recommended_swap_size GB SWAP, follow these steps:\033[0m"
  echo -e "\033[31m-----------------------------------------------------------\033[0m"
  echo -e "\033[31msudo swapoff -a\033[0m"
  echo -e "\033[31msudo dd if=/dev/zero of=/swapfile bs=1GB count=$rounded_recommended_swap_size\033[0m"
  echo -e "\033[31msudo chmod 600 /swapfile\033[0m"
  echo -e "\033[31msudo mkswap /swapfile\033[0m"
  echo -e "\033[31msudo swapon /swapfile\033[0m"
  echo -e "\033[31mgrep SwapTotal /proc/meminfo\033[0m"
  echo -e "\033[31m-----------------------------------------------------------\033[0m"
  echo ""
  echo "Press Enter to continue..."
  echo ""
  [ -z "$GITHUB_CI" ] && [ ! $DOCKER ] && read
fi

[ -z "$GIT_PATH" ] && GIT_PATH=$HOME/git
[ -z "$WORKSPACE_LOCATION" ] && WORKSPACE_LOCATION=$HOME

echo "Installation started WORKSPACE_LOCATION=$WORKSPACE_LOCATION, GIT_PATH=$GIT_PATH"

## | ----------------------- install ROS ---------------------- |

bash $MY_PATH/dependencies/ros.sh

## | --------------------- install gitman --------------------- |

bash $MY_PATH/dependencies/gitman.sh

## | ------------------ crate the git folder ------------------ |

[ ! -e "$GIT_PATH" ] && echo "$0: creating $GIT_PATH" && mkdir -p $GIT_PATH

## | -------------------- cloning packages -------------------- |

cd "$GIT_PATH"

[ ! -e "$GIT_PATH/uav_core" ] && git clone https://github.com/ctu-mrs/uav_core
[ ! -e "$GIT_PATH/simulation" ] && git clone https://github.com/ctu-mrs/simulation
[ ! -e "$GIT_PATH/example_ros_packages" ] && git clone https://github.com/ctu-mrs/example_ros_packages

## | ------------------- installing uav_core ------------------ |

echo "$0: installing uav_core"
$GIT_PATH/uav_core/installation/install.sh

## | ------------------ installing simulation ----------------- |

echo "$0: installing simulation"
$GIT_PATH/simulation/installation/install.sh

## | ------------------- setup mrs_workspace ------------------ |

$MY_PATH/scripts/set_mrs_workspace.sh -l $WORKSPACE_LOCATION -g $GIT_PATH $NO_BUILD

## | --------------------- setup workspace -------------------- |

$MY_WORKSPACE && $MY_PATH/scripts/set_my_workspace.sh -l $WORKSPACE_LOCATION -g $GIT_PATH $NO_BUILD

## | ------- add workspaces to ROS_WORKSPACES in .bashrc ------ |

num=`cat ~/.bashrc | grep "ROS_WORKSPACES" | wc -l`
if [ "$num" -lt "1" ]; then

  # set bashrc
  echo "
export ROS_WORKSPACES=\"$WORKSPACE_LOCATION/mrs_workspace $WORKSPACE_LOCATION/workspace\"" >> ~/.bashrc

fi