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

%% init
curdir=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);
        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/Simulator
try
    warning('off','MATLAB:DELETE:FileNotFound');
    delete('vision_sim');
    warning('on','MATLAB:DELETE:FileNotFound');
    rmdir('slprj','s');
    rmdir('vision_sim_*','s');
    disp('old executable and build directories have been removed')
catch
end

%define tunable parameters
set_tunabledata_vision();

curdirrobocup = cd;
cd('/home/robocup/svn/trunk/src/Turtle2/Vision');
init_vision();
cd(curdirrobocup);

%create copy of vision_sim.mdl, rename to vision_sim_temporary_copy.mdl
try 
    warning('off','MATLAB:DELETE:FileNotFound');
    delete('vision_sim_temporary_copy.mdl');
    warning('on','MATLAB:DELETE:FileNotFound');
catch end
!cp vision_sim.mdl vision_sim_temporary_copy.mdl

%% set rtw parameters
% standard rtw configurations
load_system('vision_sim')
cs = getActiveConfigSet('vision_sim');

% set the rtw custom code properties
set_param(cs,'CustomInclude',['./include ./src ../Libs/multicast ../Libs/ipcomm2 ../Targets/wintarget ../Global_par ../Vision/src',buspath])
set_param(cs,'CustomSource','')
set_param(cs,'CustomLibrary','/usr/lib/librtdb.so /usr/lib/libpthread.so /usr/lib/libipcomm2_client.so /usr/lib/libipcomm2_server.so /usr/lib/libdiag.so')

% change the Simulink target file and make options
switchTarget(cs,'wmtarget.tlc',[]);
set_param(cs,'TemplateMakefile','wm_unix.tmf')
set_param(cs,'MakeCommand',['make_rtw OPT_OPTS="-g -O2 -W" CC="ccache gcc" OPTS="-DTIMER_ID=2 -D_GNU_SOURCE"'])

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

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

%% build executable
try
    rtwbuild('vision_sim')

    %copy executable
    if nargin == 0
        %copy executable
        !cp vision_sim bin/vision_sim1
        !cp vision_sim bin/vision_sim2
        !cp vision_sim bin/vision_sim3
        !cp vision_sim bin/vision_sim4
        !cp vision_sim bin/vision_sim5
        !cp vision_sim bin/vision_sim6
    else
        for i = 1:length(turtle_select)
            eval(['!cp vision_sim bin/vision_sim' num2str(turtle_select(i))])
        end
    end

    %delete original
    delete('vision_sim');
    
    cleanupvisionsim(deffield,desfield);
catch
    err = lasterr;
    cleanupvisionsim(deffield,desfield);
    error(err);
end
cd(curdir);

%% cleanup vision sim after building
function cleanupvisionsim(deffield,desfield)

%replace copy of vision_sim.mdl
!cp vision_sim_temporary_copy.mdl vision_sim.mdl
delete('vision_sim_temporary_copy.mdl');

%remove build directories
try
    rmdir('slprj','s');
    rmdir('vision_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