#!/bin/bash

#### CUSTOMIZE HERE #####

S3_BUCKET="<bucket_name>"
ROLE_ARN="<iam_role>"
SUBNET='<subnets>' # example  '["subnet-1303f974", "subnet-939d74da", "subnet-d7063791"]'
SECURITY_GROUP='<security_groups>' # example '["sg-012ffd67"]'

S3_BUNDLE_BASEPATH="<project_dir>"

PATH_TO_SIM_APP_WORKSPACE="simulation_ws"
PATH_TO_ROBOT_APP_WORKSPACE="robot_ws"

SIMULATION_APPNAME="<simulation_app_name>"
SIM_APP_PACKAGE="meiro_runner_simulation"
SIM_APP_LAUNCH_FILE="create_maze_world.launch"
SIM_APP_ENV="{}" # example "{\"TURTLEBOT3_MODEL\": \"waffle_pi\"}"

ROBOT_APPNAME="<robot_app_name>"
ROBOT_APP_PACKAGE="meiro_runner_robot"
ROBOT_APP_LAUNCH_FILE="local_training.launch"
ROBOT_APP_ENV="{\"MARKOV_PRESET_FILE\": \"meiro_runner.py\",
                \"MODEL_S3_BUCKET\": \"<bucket_name>\",
                \"MODEL_S3_PREFIX\": \"model-store\",
                \"ROS_AWS_REGION\": \"<aws_region>\"}" # example "{\"TURTLEBOT3_MODEL\": \"waffle_pi\"}"

GAZEBO_VERSION=9 #9 For Melodic, 7 for Kinetic
ROS_VERSION=Melodic # Melodic or Kinetic
 
#### CUSTOMIZE HERE END #####

S3KEY_SIM_APP=$S3_BUNDLE_BASEPATH/$PATH_TO_SIM_APP_WORKSPACE/bundle/output.tar
S3KEY_ROBOT_APP=$S3_BUNDLE_BASEPATH/$PATH_TO_ROBOT_APP_WORKSPACE/bundle/output.tar

# Copy bundle to Amazon S3
aws s3 cp $PATH_TO_SIM_APP_WORKSPACE/bundle/output.tar s3://$S3_BUCKET/$S3KEY_SIM_APP
aws s3 cp $PATH_TO_ROBOT_APP_WORKSPACE/bundle/output.tar s3://$S3_BUCKET/$S3KEY_ROBOT_APP

# Reister simulation application
aws robomaker create-simulation-application \
--name $SIMULATION_APPNAME \
--sources "s3Bucket=$S3_BUCKET,s3Key=$S3KEY_SIM_APP,architecture=X86_64" \
--simulation-software-suite "name=Gazebo,version=$GAZEBO_VERSION" \
--robot-software-suite "name=ROS,version=$ROS_VERSION" \
--rendering-engine "name=OGRE,version=1.x"　

# Register robot application
aws robomaker create-robot-application \
--name $ROBOT_APPNAME \
--sources "s3Bucket=$S3_BUCKET,s3Key=$S3KEY_ROBOT_APP,architecture=X86_64" \
--robot-software-suite "name=ROS,version=$ROS_VERSION"　

# Query simulation app
sim_app=`aws robomaker list-simulation-applications | grep -o "arn:aws:robomaker:.*:simulation-application/${SIMULATION_APPNAME}.[^,\"]*"`

# Query robot app
robo_app=`aws robomaker list-robot-applications |  grep -o "arn:aws:robomaker:.*:robot-application/${ROBOT_APPNAME}.[^,\"]*"`

# Update
aws robomaker update-simulation-application \
--application $sim_app \
--sources "s3Bucket=$S3_BUCKET,s3Key=$S3KEY_SIM_APP,architecture=X86_64" \
--simulation-software-suite "name=Gazebo,version=$GAZEBO_VERSION" \
--robot-software-suite "name=ROS,version=$ROS_VERSION" \
--rendering-engine "name=OGRE,version=1.x"　

aws robomaker update-robot-application \
--application $robo_app \
--sources "s3Bucket=$S3_BUCKET,s3Key=$S3KEY_ROBOT_APP,architecture=X86_64" \
--robot-software-suite "name=ROS,version=$ROS_VERSION"　

# Launch
template='
    {   "iamRole":"%s", 
        "maxJobDurationInSeconds":5400, 
        "failureBehavior":"Fail", 
        "simulationApplications":[{"application":"%s","applicationVersion":"$LATEST",
            "launchConfig":{
              "packageName":"%s","launchFile":"%s",
              "environmentVariables": %s
            }}],
        "robotApplications":[{"application":"%s","applicationVersion":"$LATEST",
            "launchConfig":{
              "packageName":"%s","launchFile":"%s",
              "environmentVariables": %s
            }}], 
        "vpcConfig":{"subnets":%s,"securityGroups":%s,"assignPublicIp":true}}'

json_params=$(printf "$template" "$ROLE_ARN" "$sim_app" "$SIM_APP_PACKAGE" "$SIM_APP_LAUNCH_FILE" "$SIM_APP_ENV" "$robo_app" "$ROBOT_APP_PACKAGE" "$ROBOT_APP_LAUNCH_FILE" "$ROBOT_APP_ENV" "$SUBNET" "$SECURITY_GROUP")

aws robomaker create-simulation-job --cli-input-json "$json_params"