install.sh

#!/usr/bin/env bash
SCRIPT_VERSION="1.0.0"

# Exit on errors
set -e

# Colors
NC='\033[0m'          # Text Reset
On_Black='\033[40m'   # Black background
On_Cyan='\033[46m'    # Cyan background
On_Green='\033[42m'   # Green background
BIRed='\033[1;91m'    # Bold Intense Red
BWhite='\033[1;37m'   # Bold White
BIYellow='\033[1;93m' # Bold Intense Yellow
White='\033[0;37m'    # White

# Printing utilities
ColErr=${BIRed}${On_Black}
ColPrompt=${BWhite}${On_Cyan}
ColInfo=${White}
ColWarn=${BIYellow}${On_Black}
cout() {
  echo -e "${ColInfo}${1}${NC}"
}
cin() {
  echo -e "${ColPrompt}${1}${NC}"
}
cerr() {
  echo -e "${ColErr}${1}${NC}"
}
cwarn() {
  echo -e "${ColWarn}${1}${NC}"
}
ctitle() {
  echo -e "${BWhite}${On_Green}${1}${NC}"
}

# Local functions
promptYesNo() {
  if [[ $ALWAYS_YES == 1 ]]; then
    echo 1
    return
  fi

  local REPLY=${2}
  local TXT="[y/n]"

  if [[ "$REPLY" == 1 ]]; then
    TXT="[Y/n]"
  elif [[ "$REPLY" == 0 ]]; then
    TXT="[y/N]"
  else
    REPLY=""
  fi

  while true; do
    local color=$'\033[1m'
    local noColor=$'\033[0m'
    read -r -e -p "$color${1} $TXT?$noColor " yn

    case $yn in
    y | Y | Yes | yes | YES)
      REPLY=1
      break
      ;;
    n | N | No | no | NO)
      REPLY=0
      break
      ;;
    "")
      if [ -n "$REPLY" ]; then
        break
      fi
      ;;
    *) ;;
    esac
  done

  echo "$REPLY"
}

promptChoiceArch() {
  if [[ $ALWAYS_YES == 1 ]]; then
    cerr "Always Yes selected but a multichoices question has been raised"
    cerr "Use -f -r <ROS_DISTRO> -a <ARCH> -v <UBUNTU_VERSION> to force an install"
    exit 1
  fi

  local REPLY=""
  select which in "amd64" "arm64"; do
    case $which in
    "amd64")
      REPLY="amd64"
      break
      ;;
    "arm64")
      REPLY="arm64"
      break
      ;;
    *) ;;
    esac
  done
  echo "$REPLY"
}

promptChoiceUbuntuDistro() {
  if [[ $ALWAYS_YES == 1 ]]; then
    cerr "Always Yes selected but a multichoices question has been raised"
    cerr "Use -f -r <ROS_DISTRO> -a <ARCH> -v <UBUNTU_VERSION> to force an install"
    exit 1
  fi
  local REPLY=""
  select which in "22.04" "20.04" "18.04"; do
    case $which in
    "22.04")
      REPLY="22.04"
      break
      ;;
    "20.04")
      REPLY="20.04"
      break
      ;;
    "18.04")
      REPLY="18.04"
      break
      ;;
    *) ;;
    esac
  done
  echo "$REPLY"
}

JAMMY_ROS=("iron" "humble")
FOCAL_ROS=("foxy" "noetic" "galactic")
BIONIC_ROS=("melodic")

promptChoiceROSDistro() {
  if [[ $ALWAYS_YES == 1 ]]; then
    cerr "Always Yes selected but a multichoices question has been raised"
    cerr "Use -f -r <ROS_DISTRO> -a <ARCH> -v <UBUNTU_VERSION> to force an install"
    exit 1
  fi
  local REPLY=""
  if [ -z "$UBUNTU_DISTRO" ]; then
    local ros_list=("iron" "humble" "foxy" "galactic" "noetic" "melodic")
  fi
  if [[ $UBUNTU_DISTRO == "22.04" ]]; then
    local ros_list=("${JAMMY_ROS[@]}")
  fi

  if [[ $UBUNTU_DISTRO == "20.04" ]]; then
    local ros_list=("${FOCAL_ROS[@]}")
  fi

  if [[ $UBUNTU_DISTRO == "18.04" ]]; then
    local ros_list=("${BIONIC_ROS[@]}")
  fi

  select which in "${ros_list[@]}"; do
    case $which in
    "iron")
      REPLY="iron"
      break
      ;;
    "humble")
      REPLY="humble"
      break
      ;;
    "foxy")
      REPLY="foxy"
      break
      ;;
    "galactic")
      REPLY="galactic"
      break
      ;;
    "noetic")
      REPLY="noetic"
      break
      ;;
    "melodic")
      REPLY="melodic"
      break
      ;;
    *) ;;
    esac
  done
  echo "$REPLY"
}

valid_args() {
  if [[ $UBUNTU_DISTRO == "22.04" ]]; then
    for value in "${JAMMY_ROS[@]}"; do
      [[ $value == "$QUERY_DISTRO" ]] && return 0
    done
    return 1
  fi

  if [[ $UBUNTU_DISTRO == "20.04" ]]; then
    for value in "${FOCAL_ROS[@]}"; do
      [[ $value == "$QUERY_DISTRO" ]] && return 0
    done
    return 1
  fi

  if [[ $UBUNTU_DISTRO == "18.04" ]]; then
    for value in "${BIONIC_ROS[@]}"; do
      [[ $value == "$QUERY_DISTRO" ]] && return 0
    done
    return 1
  fi
}

# Usage info
show_help() {
  cat <<EOF
Usage: ${0##*/} [-hyf] [-r <ROS_DISTRO>] [-a <ARCH>] [-v <UBUNTU_VERSION>]
Install 3Laws Supervisor
   -h                 show this help menu
   -y                 answer yes to all yes/no questions
   -r                 Optional: ROS distribution
   -f                 Force install, specify all arguments
   -a                 CPU architecture (arm64v8|amd64)
   -v                 Ubuntu version (22.04|20.04|18.04)
EOF
}

check_values() {
  if [[ -z $ARCH ]]; then
    cerr "Architecture not found, specify amd64|arm64"
    ARCH=$(promptChoiceArch)
  fi
  if [[ -z $UBUNTU_DISTRO ]]; then
    cerr "Ubuntu distro not found, specify 22.04|20.04|18.04"
    UBUNTU_DISTRO=$(promptChoiceUbuntuDistro)
  fi
  if [[ -z $QUERY_DISTRO ]]; then
    cerr "ROS distro not found, specify iron|humble|foxy|galactic|noetic|melodic"
    QUERY_DISTRO=$(promptChoiceROSDistro)
  fi

  if ! valid_args; then
    if [ "$FORCE" == 1 ]; then
      cerr "ROS distro not compatible with your ubuntu distribution"
      echo "22.04: iron | humble"
      echo "20.04: noetic | galactic | foxy"
      echo "18.04: melodic"
      cout "Retry with other arguments"
      exit 1
    fi
    cerr "ROS distro not compatible with your ubuntu distribution"
    echo "22.04: iron | humble"
    echo "20.04: noetic | galactic | foxy"
    echo "18.04: melodic"
    cout "Specify iron|humble|foxy|galactic|noetic|melodic"

    QUERY_DISTRO=$(promptChoiceROSDistro)
  fi

  cout "The Supervisor package for ubuntu $UBUNTU_DISTRO $ARCH and Ros $QUERY_DISTRO will be downloaded"
}

# Script Options
ALWAYS_YES=0
FORCE=0
WANTED_ROS=""
WANTED_ARCH=""
WANTED_UBUNTU=""

while getopts hyfr:a:v: opt; do
  case $opt in
  h)
    show_help
    exit 0
    ;;
  y)
    ALWAYS_YES=1
    ;;
  f)
    FORCE=1
    ;;
  r)
    WANTED_ROS="$OPTARG"
    ;;
  a)
    WANTED_ARCH="$OPTARG"
    ;;
  v)
    WANTED_UBUNTU="$OPTARG"
    ;;
  *)
    show_help >&2
    exit 1
    ;;
  esac
done
shift "$((OPTIND - 1))"

# Main
ctitle "3Laws Supervisor Installer (v$SCRIPT_VERSION)"

if [ "$FORCE" == 1 ] && { [ -z "$WANTED_ARCH" ] || [ -z "$WANTED_ROS" ] || [ -z "$WANTED_UBUNTU" ]; }; then
  cerr "The force arg requires all information to be provided, arch, ros and ubuntu version"
  exit 1
fi

HAS_ROS1=0
if command -v roscore &>/dev/null; then
  HAS_ROS1=1
  ROS1_DISTRO=$(rosversion -d)
  QUERY_DISTRO=$ROS1_DISTRO
fi

HAS_ROS2=0
if command -v ros2 &>/dev/null; then
  HAS_ROS2=1
  QUERY_DISTRO=$ROS_DISTRO
fi

UBUNTU_DISTRO=$(cat /etc/*-release | grep VERSION_ID | grep -oE "[0-9]{2}.[0-9]{2}")

ARCH=amd64
case "$(uname -i)" in
arm* | aarch*)
  ARCH=arm64
  ;;
esac

if [ $FORCE == 0 ]; then

  if [ -n "$WANTED_UBUNTU" ]; then
    if [ "$UBUNTU_DISTRO" != "$WANTED_UBUNTU" ]; then
      cwarn "Specified Ubuntu version does not match the detected one, select your version:"
      UBUNTU_DISTRO=$(promptChoiceUbuntuDistro)
    fi
  fi

  if [ -n "$WANTED_ARCH" ]; then
    if [[ $ARCH != "$WANTED_ARCH" ]]; then
      cwarn "Specified Architecture does not match the detected one, select your version:"
      ARCH=$(promptChoiceArch)
    fi
  fi

  if [ -n "$WANTED_ROS" ]; then
    if [ "$QUERY_DISTRO" != "$WANTED_ROS" ]; then
      cwarn "Specified ROS version does not match the detected one, select your version:"
      QUERY_DISTRO=$(promptChoiceROSDistro)
    fi
  fi

  if [ $HAS_ROS1 == "$HAS_ROS2" ]; then
    cwarn "Unable to select a ROS distribution, select your version:"
    QUERY_DISTRO=$(promptChoiceROSDistro)
  fi

else

  if [[ $UBUNTU_DISTRO != "$WANTED_UBUNTU" ]]; then
    cwarn "Specified Ubuntu version does not match the detected one, continue with $WANTED_UBUNTU"
    UBUNTU_DISTRO=$WANTED_UBUNTU
  fi

  if [[ $ARCH != "$WANTED_ARCH" ]]; then
    cwarn "Specified Architecture does not match the detected one, continue with $WANTED_ARCH"
    ARCH=$WANTED_ARCH
  fi

  if [[ $QUERY_DISTRO != "$WANTED_ROS" ]]; then
    cwarn "Specified ROS version does not match the detected one, continue with $WANTED_ROS"
    QUERY_DISTRO=$WANTED_ROS
  fi
fi

# Check Write permission
if [ ! -w . ]; then
  cerr "No write permission in current directory, please run this script in a writable directory"
  exit 1
fi

# Check args validity
check_values

# Define variables.
GH_API="https://api.github.com"
GH_REPO="$GH_API/repos/3LawsRobotics/3laws"
GH_TAGS="$GH_REPO/releases/latest"
CURL_ARGS="-LJO#"

curl -o /dev/null -s $GH_REPO || {
  echo "Error: Invalid repo, token or network issue!"
  exit 1
}

PACKAGE_NAME="lll-supervisor-full-${QUERY_DISTRO}"
REGEX_QUERY="${PACKAGE_NAME}_[0-9]\+\.[0-9]\+\.[0-9]\+-[0-9]\+_$ARCH"

# Read asset tags.
RESPONSE=$(curl -s -H "application/vnd.github+json" $GH_TAGS)
ASSET_NAME=$(echo "$RESPONSE" | grep -o "name.:.\+${REGEX_QUERY}.deb" | cut -d ":" -f2- | cut -d "\"" -f2-)
ASSET_ID=$(echo "$RESPONSE" | grep -C3 "name.:.\+$REGEX_QUERY" | grep -w id | tr : = | tr -cd '[[:alnum:]]=' | cut -d'=' -f2-)

[ "$ASSET_ID" ] || {
  VALID_ASSETS=$(echo "$RESPONSE" | grep -o "name.:.\+lll-supervisor-full-[a-zA-Z]\+_[0-9]\+\.[0-9]\+\.[0-9]\+-[0-9]_[a-zA-Z0-9]\+" | cut -d ":" -f2- | cut -d "\"" -f2-)
  if [ -z "$VALID_ASSETS" ]; then
    cerr "No valid assets are available for your configuration, please contact support@3lawsrobotics.com"
  else
    echo -e "Error: Failed to get asset id, valid packages:\n$VALID_ASSETS"
  fi
  exit 1
}

GH_ASSET="$GH_REPO/releases/assets/$ASSET_ID"

DOWNLOAD=0
if [ -f "$ASSET_NAME" ]; then
  cwarn "$ASSET_NAME already in your directory."
  OVERWRITE=$(promptYesNo "Do you want to overwrite $ASSET_NAME in the current directory ?" 1)
  if [ "$OVERWRITE" -eq 1 ]; then
    cwarn "Removing $ASSET_NAME"
    rm "$ASSET_NAME"
    DOWNLOAD=1
  fi
else
  DOWNLOAD=$(promptYesNo "Do you want to download $ASSET_NAME in the current directory" 1)
fi

if [[ $DOWNLOAD == 1 ]]; then
  echo "Downloading package..." >&2
  curl $CURL_ARGS -s -H 'Accept: application/octet-stream' "$GH_ASSET"
  cout "Package $ASSET_NAME has been downloaded."
else
  cwarn "Package not downloaded."
fi

if [[ -f "$ASSET_NAME" ]]; then
  INSTALL=$(promptYesNo "Do you want to install $ASSET_NAME and its dependency (libstd++13) ?" 1)

  if [ "$INSTALL" == 0 ]; then
    cout "Package downloaded but not installed, if you choose to install manually, be sure to have libstd++13 on your system"
  else
    SUDO=""
    if [[ "$EUID" -ne 0 && $INSTALL == 1 ]]; then
      cwarn "To install the supervisor automatically some commands must be run as sudo"
      SUDO="sudo "
    fi
    # Install dependencies
    STDLIB=libstdc++-13-dev
    STDLIB_INSTALLED=0
    dpkg -l $STDLIB &>/dev/null && STDLIB_INSTALLED=1

    if [[ $STDLIB_INSTALLED == 0 ]]; then
      cout "Installing dependencies..."
      $SUDO apt-get update &>/dev/null
    fi

    if [[ $STDLIB_INSTALLED == 0 ]]; then
      {
        {
          $SUDO apt-get install -y --no-install-recommends $STDLIB &>/dev/null
        } || {
          $SUDO apt-get install -y --no-install-recommends software-properties-common &>/dev/null
          $SUDO add-apt-repository -y "ppa:ubuntu-toolchain-r/test" &>/dev/null
          cwarn "Added 'ppa:ubuntu-toolchain-r/test' to apt sources!"
          $SUDO apt-get install -y --no-install-recommends $STDLIB &>/dev/null
        }
        cwarn "Installed '$STDLIB' on system!"
      } || {
        cerr "Failed to install '$STDLIB' dependency!"
        exit 65
      }
    fi

    # Install package
    cout "Installing package..."
    $SUDO apt install -f ./"$ASSET_NAME" -y --no-install-recommends

    # Create 3laws directory
    cout "Creating 3laws config directory..."
    mkdir -p "$HOME/.3laws/config"

    cout "Removing artifacts..."
    rm "$ASSET_NAME"

    cout "Success installation!"
  fi
else
  cout "Package not found...If you encounter any issues, please contact: support@3lawsrobotics.com"
fi