#!/bin/bash
# 检查到未定义的变量则停止执行并报错
set -u
source /home/cicv/work/pji_desktop/config.sh

# 检查参数数量
if [ "$#" -ne 1 ]; then
  echo "Error: Incorrect number of arguments"
  echo "Usage: $0 ZIP_FILE_PATH"
  exit 1
fi

ZIP_FILE_PATH=$1
#SIMULATION_PATH="/home/cicv/work/pji_desktop/simulation"
#UNZIP_DATA_PATH="/home/cicv/work/pji_desktop/tmp_download/simulation_zip/data"

# 检查zip文件是否存在
if [ -e "$ZIP_FILE_PATH" ]; then
  echo "The file exists: $ZIP_FILE_PATH"
else
  echo "The file does not exist: $ZIP_FILE_PATH"
  exit 1
fi

# 清除历史文件
## 检查要删除的目录是否为空
if [[ -z "$UNZIP_DATA_PATH" ]]; then
  echo "Error: Variable UPDATE_DATA_PATH is not set or empty"
  exit 1
fi
echo "Starting deleting old files: $UNZIP_DATA_PATH..."
## 删除对应目录
sudo safe-rm -rf "$UNZIP_DATA_PATH"
echo "Old files deleted: $UNZIP_DATA_PATH"

# 解压文件
echo "Starting decompressing zip file: $ZIP_FILE_PATH..."
## 解压zip文件
unzip -o "$ZIP_FILE_PATH" -d "$UNZIP_DATA_PATH" # -o表示覆盖现有文件
## 解压data目录
unzip -o "$UNZIP_DATA_PATH/data.zip" -d "$UNZIP_DATA_PATH/data" # -o表示覆盖现有文件
echo "Zip file decompressed: $ZIP_FILE_PATH"

# 复制文件到项目目录
## data目录
echo "Starting copying directory: $UNZIP_DATA_PATH/data to $SIMULATION_PATH/data/pjirobot..."
sudo safe-rm -rf "$SIMULATION_PATH"/data/pjirobot/data/*
sudo cp -r "$UNZIP_DATA_PATH/data" "$SIMULATION_PATH/data/pjirobot/"
echo "Directory copy successfully"
## mapBuf
echo "Starting copying directory: $UNZIP_DATA_PATH/data/mapBuf to $SIMULATION_PATH/data..."
sudo safe-rm -rf "$SIMULATION_PATH"/data/mapBuf/*
sudo cp -r "$UNZIP_DATA_PATH/data/mapBuf" "$SIMULATION_PATH/data/"
echo "Directory copy successfully"
## origin_map.bag
echo "Starting copying file: $UNZIP_DATA_PATH/origin_map.bag to $SIMULATION_PATH/data/map_bag..."
cp "$UNZIP_DATA_PATH/origin_map.bag" "$SIMULATION_PATH/data/map_bag"
echo "File copy successfully"
## map.bag
echo "Starting copying file: $UNZIP_DATA_PATH/map.bag to $SIMULATION_PATH/data/map_bag..."
cp "$UNZIP_DATA_PATH/map.bag" "$SIMULATION_PATH/data/map_bag"
echo "File copy successfully"
## map.world
echo "Starting copying file: $UNZIP_DATA_PATH/map.world to $SIMULATION_PATH/catkin_ws/src/SimulationEnvs/worlds..."
cp "$UNZIP_DATA_PATH/map.world" "$SIMULATION_PATH/catkin_ws/src/SimulationEnvs/worlds"
echo "File copy successfully"
## map.stl - 1
echo "Starting copying file: $UNZIP_DATA_PATH/map.stl to $SIMULATION_PATH/catkin_ws/src/SimulationEnvs/models/map/meshes..."
cp "$UNZIP_DATA_PATH/map.stl" "$SIMULATION_PATH/catkin_ws/src/SimulationEnvs/models/map/meshes"
echo "File copy successfully"
### map.stl - 2
#echo "Starting copying file: $UNZIP_DATA_PATH/map.stl to $SIMULATION_PATH/catkin_map2gazebo/src/models/map/meshes..."
#cp "$UNZIP_DATA_PATH/map.stl" "$SIMULATION_PATH/catkin_map2gazebo/src/models/map/meshes"
#echo "File copy successfully"
## merged_obstacles_new.csv
echo "Starting copying file: $UNZIP_DATA_PATH/merged_obstacles_new.csv to $SIMULATION_PATH/merge_obstacles_data..."
cp "$UNZIP_DATA_PATH/merged_obstacles_new.csv" "$SIMULATION_PATH/merge_obstacles_data"
echo "File copy successfully"
## map.pgm
echo "Starting copying file: $UNZIP_DATA_PATH/map.pgm to $SIMULATION_PATH/catkin_ws/src/Navigation/map..."
cp "$UNZIP_DATA_PATH/map.pgm" "$SIMULATION_PATH/catkin_ws/src/Navigation/map"
echo "File copy successfully"
## map.yaml
echo "Starting copying file: $UNZIP_DATA_PATH/map.yaml to $SIMULATION_PATH/catkin_ws/src/Navigation/map..."
cp "$UNZIP_DATA_PATH/map.yaml" "$SIMULATION_PATH/catkin_ws/src/Navigation/map"
echo "File copy successfully"

echo "Data preparation done."