#!/usr/bin/env bash
# Install build dependencies for dora-zed on Ubuntu 24.04 x86_64 (CUDA 12).
# Skips any component that is already installed.
# Uses aria2c for fast parallel downloads if available, otherwise falls back to wget.
# Downloads are placed in ./tmp relative to this script for inspection.
set -euo pipefail

ZED_VERSION="5.2"
ORT_VERSION="1.24.4"

SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
TMP_DIR="${SCRIPT_DIR}/../tmp"
mkdir -p "$TMP_DIR"

download() {
    local url="$1" dest="$2"
    if command -v aria2c &>/dev/null; then
        aria2c -x 16 -s 16 -d "$(dirname "$dest")" -o "$(basename "$dest")" "$url"
    else
        wget -O "$dest" "$url"
    fi
}

# --- ZED SDK ---
if [ -d /usr/local/zed ]; then
    echo ">>> ZED SDK already installed at /usr/local/zed — skipping."
else
    echo ">>> Downloading ZED SDK ${ZED_VERSION} for Ubuntu 24.04 (CUDA 12)..."
    download \
        "https://download.stereolabs.com/zedsdk/${ZED_VERSION}/cu12/ubuntu24" \
        "${TMP_DIR}/ZED_SDK.run"
    chmod +x "${TMP_DIR}/ZED_SDK.run"
    echo ">>> Installing ZED SDK (silent)..."
    sudo "${TMP_DIR}/ZED_SDK.run" -- silent skip_python skip_tools
fi

# --- ONNX Runtime (C++ GPU, installs to /usr/local) ---
if [ -f /usr/local/lib64/libonnxruntime.so ] && [ -d /usr/local/lib/cmake/onnxruntime ]; then
    echo ">>> ONNX Runtime already installed — skipping."
else
    echo ">>> Downloading ONNX Runtime ${ORT_VERSION} GPU..."
    download \
        "https://github.com/microsoft/onnxruntime/releases/download/v${ORT_VERSION}/onnxruntime-linux-x64-gpu-${ORT_VERSION}.tgz" \
        "${TMP_DIR}/onnxruntime-linux-x64-gpu-${ORT_VERSION}.tgz"
    echo ">>> Extracting..."
    tar -xzf "${TMP_DIR}/onnxruntime-linux-x64-gpu-${ORT_VERSION}.tgz" -C "${TMP_DIR}"
    echo ">>> Installing ONNX Runtime to /usr/local..."
    sudo mkdir -p /usr/local/include/onnxruntime
    sudo cp -r "${TMP_DIR}/onnxruntime-linux-x64-gpu-${ORT_VERSION}/include/"* /usr/local/include/onnxruntime/
    sudo mkdir -p /usr/local/lib64
    sudo cp -r "${TMP_DIR}/onnxruntime-linux-x64-gpu-${ORT_VERSION}/lib/"* /usr/local/lib64/
    # onnxruntimeTargets.cmake resolves the library as <prefix>/lib64, but Ubuntu
    # is multiarch: CMake does not search lib64 for packages and ld.so does not
    # search /usr/local/lib64 at all. Move only the package files to lib/cmake
    # and put lib64 on the linker path.
    sudo mkdir -p /usr/local/lib/cmake
    sudo rm -rf /usr/local/lib/cmake/onnxruntime
    sudo mv /usr/local/lib64/cmake/onnxruntime /usr/local/lib/cmake/
    sudo rmdir /usr/local/lib64/cmake
    echo /usr/local/lib64 | sudo tee /etc/ld.so.conf.d/onnxruntime.conf > /dev/null
    sudo ldconfig
fi

echo ">>> Done. You can now run: mkdir -p build && cd build && cmake .. && make install"
echo ">>> Downloaded files are in ${TMP_DIR}"