function build_sim_motion(varargin)

%BUILD_TURTLE_MOTION   Build motion_turtle.mdl.
%
%   BUILD_TURTLE_MOTION() builds the motion_turtle Simulink scheme to a
%   generic executable for all robots (no robot id required).
% 
%   To build the motion_turtle simulink scheme for specific turtles,
%   include an array with the turtle numbers in the function call, e.g. 
%   BUILD_SIM_MOTION([1 3 4]).


%% init
curdir_init = pwd;
addpathrobocup;

%kill running application
!sudo killall appman_sim

% retrieve list of turtles and desired field
turtle_select=[]; desfield='';
for i1=1:nargin,
    if isnumeric(varargin{i1}),
        turtle_select=[turtle_select,varargin{i1}];
    else
        cd /home/robocup/svn/trunk/src/Turtle2/Global_par
        fieldnamelist=getfieldnamelist;
        cd(curdir_init);
        for i2=1:length(fieldnamelist),
            if strcmp(fieldnamelist{i2},varargin{i1}),
                desfield=varargin{i1};
                break;
            end
        end
        if isempty(desfield),
            disp('You requested a non-existing field! Building for default field instead.');
        end
    end
end

%set field size
deffield = get_global_par('DEFAULTFIELDSELECTION');
if isempty(desfield),
    desfield = get_global_par('DEFAULTSIMFIELD');
end
if ~strcmp(deffield,desfield),
    disp(['setting ',desfield,' field size']);
    cd /home/robocup/svn/trunk/src/Turtle2/Global_par
    selectfield(-1,['global_par_',desfield,'.h'])
end

%remove old executable and build directories
cd /home/robocup/svn/trunk/src/Turtle2/Motion
try
    warning('off','MATLAB:DELETE:FileNotFound');
    delete('motion_sim');
    delete('motion_sim.mdl');
    warning('on','MATLAB:DELETE:FileNotFound');
    rmdir('slprj','s');
    rmdir('motion_sim_*','s');
    disp('old executable and build directories have been removed')
catch
end

%load motion settings, including port data from setparameters.m
init_motion();

%create copy of motion_turtle.mdl, rename to motion_sim.mdl
!cp motion_turtle.mdl motion_sim.mdl

% obtain svn version 
svnver = 0;
fid = fopen('/home/robocup/svnver.txt');
if(fid > 0)
    [svnver,count] = fscanf(fid,'%*s %d');
    fclose(fid);
end
if(count ~= 1)
    svnver = 0;
end

%% set rtw parameters
%load motion scheme
load_system('motion_sim');
cs = getActiveConfigSet('motion_sim');

% check for log blocks
logblocks = find_system(gcs,'BlockType','ToWorkspace');
if(~isempty(logblocks))
    disp(' ')
    disp('WARNING : Logging block found in motion_turtle.mdl! Please remove before checking in!')
    for(k=1:size(logblocks))
        disp(logblocks{k})
    end
    disp('')
    disp('')
end

% set data aquisition block to simulator
set_param('motion_sim/decoupled controlled robot/decoupled robot/Subsystem/Data aquisition','BlockChoice','Simulator');
% set low level control block to turtle
set_param('motion_sim/decoupled controlled robot/decoupled robot/Low Level Control','BlockChoice','Turtle');

%set the rtw custom code properties
set_param(cs,'CustomInclude',['../Libs/kinect/include ../Libs/voronoi ./src ../Libs/ipcomm2 ../Libs/GeneralFunctions ../Libs/multicast ../Global_par ../Motion/src/refbox_handler/ ../Motion/src/role_handler/ ../Motion/src/pass_handler/ ../Motion/src/mu_positioning_lib/ ../Motion/src/strategy_handler/ /usr/include/gsl/ /usr/local/lib/ /usr/lib/ /usr/local/include/c_urg/ ./src/LaserRangeFinder/include/ ./src/LaserRangeFinder/ ' buspath])
set_param(cs,'CustomSource','')
set_param(cs,'CustomLibrary','/usr/lib/libfreenect.so /usr/lib/libvoronoi.so /usr/lib/libpthread.so /usr/lib/libipcomm2_server.so /usr/lib/librtdb.so /usr/lib/libgd.so /usr/lib/libgeneral_functions.a  /usr/lib/libgslcblas.so /usr/lib/libgsl.so /usr/lib/libc_urg.so /usr/lib/libc_urg_connection.so /usr/lib/libc_urg_system.so ')

%change the Simulink target file and make options
% switchTarget(cs,'mttarget.tlc',[]);
set_param(cs,'TemplateMakefile','mtt_unix.tmf')
set_param(cs,'MakeCommand',['make_rtw OPT_OPTS="-g -O2 -W" CC="ccache gcc" OPTS="-DNO_EC -DSIMULATOR -DNETIF_ID=1 -DPRIO=99 -D_GNU_SOURCE -DSVN_VER=',num2str(svnver),'"'])

%set external mode properties
set_param(cs,'ExtMode','off')

%save and close the system
save_system('motion_sim');
close_system('motion_sim');

%% build executable
try
    rtwbuild('motion_sim')

    %copy executable
    if nargin == 0
        %copy executable
        !cp motion_sim ../Simulator/bin/motion_sim1
        !cp motion_sim ../Simulator/bin/motion_sim2
        !cp motion_sim ../Simulator/bin/motion_sim3
        !cp motion_sim ../Simulator/bin/motion_sim4
        !cp motion_sim ../Simulator/bin/motion_sim5
        !cp motion_sim ../Simulator/bin/motion_sim6
    else
        for i = 1:length(turtle_select)
            eval(['!cp motion_sim ../Simulator/bin/motion_sim' num2str(turtle_select(i))])
        end
    end

    %delete original
    delete('motion_sim');

    cleanupmotionsim(deffield,desfield);
catch
    err = lasterr;
    cleanupmotionsim(deffield,desfield);
    error(err);
end
cd(curdir_init);

%% cleanup motion sim after building
function cleanupmotionsim(deffield,desfield)

%remove build directories
try
    delete('motion_sim.mdl');
    rmdir('slprj','s');
    rmdir('motion_sim_*','s');
    disp('build directories have been removed')
catch
end

%set original field parameters
if ~strcmp(deffield,desfield),
    cd /home/robocup/svn/trunk/src/Turtle2/Global_par
    selectfield(-1,['global_par_',deffield,'.h']);
end