无

#!/bin/bash

################################################################################
SHELL_DIR=$(dirname $0)
cd $SHELL_DIR
cd ..
export OPPILOT_HOME=`pwd`
export OPPILOT_BIN=$OPPILOT_HOME/install
echo "OPPILOT_HOME=$OPPILOT_HOME"
echo "OPPILOT_BIN=$OPPILOT_BIN"
echo 
################################################################################ 

VERSION="V1.2.5"
CMAKE_PREFIX_PATH=/opt/ros/melodic:$OPPILOT_BIN
cd $OPPILOT_HOME/

CUDA_EN=1
PKG_SELECT=""
PKG_SKIP=""
ARGS=""
# PKG_SKIP+=" --packages-skip"
# PKG_SKIP+=" image_geometry cv_bridge opencv_tests vision_opencv" # python3
# PKG_SKIP+=" "

ARGS+=" --catkin-skip-building-tests"
# ARGS+=" --symlink-install"

ARGS+=" --cmake-args "
ARGS+=" -DCMAKE_BUILD_TYPE=Release"
# ARGS+=" -DPYTHON_EXECUTABLE=/usr/bin/python3"

clean=0
pkgs=""

if (( $# > 0 )); then
    # echo "argc: $#"
    for arg in $@
    do
        if [ $arg == "-f" ]; then
            clean=1
        else
			if [ $arg == "-py3" ]; then
				ARGS+=" -DPYTHON_EXECUTABLE=/usr/bin/python3"
			else
				pkgs+="$arg "
			fi
        fi
		
    done
fi

if (( $clean == 1 )); then
    # echo "clean: $clean"
    if [ -n "$pkgs" ]; then
        for pkg in $pkgs
        do
            echo "rm -rf build/$pkg install/$pkg"
            rm -rf build/$pkg install/$pkg
        done
    else
        echo "rm -rf build/ $pkg install/"
        rm -rf build/ install/
    fi
fi
# echo "pkgs: $pkgs, clean: $clean"

if [ -n "$pkgs" ]; then
    for pkg in $pkgs
    do
        PKG_SELECT="--packages-select=$pkg"
        echo "PKG_SELECT $PKG_SELECT"
        _ARGS="$PKG_SELECT $PKG_SKIP $ARGS"
        echo "COMPILE_WITH_CUDA=$CUDA_EN colcon build $_ARGS"
        COMPILE_WITH_CUDA=$CUDA_EN colcon build $_ARGS
        # echo "COMPILE_WITH_CUDA=$CUDA_EN colcon build $ARGS" > .build.sh
        # source .build.sh
    done
else
    ARGS="$PKG_SELECT $PKG_SKIP $ARGS"
    echo "COMPILE_WITH_CUDA=$CUDA_EN colcon build $ARGS"
    COMPILE_WITH_CUDA=$CUDA_EN colcon build $ARGS
fi