function build_sim_worldmodel(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 worldmodel for a specific version, specify the desired
%   version as the first input argument, e.g. BUILD_SIM_WORLDMODEL('real').
%   By default the 'lite' version is used.
% 
%   To build the worldmodel_turtle simulink scheme for specific turtles,
%   include an array with the turtle numbers in the function call, e.g. 
%   BUILD_SIM_WORLDMODEL(version,[1 3 4]).


%% init
curdir=pwd;
addpathrobocup;

%kill running application
!sudo killall appman_sim

% retrieve list of turtles, desired field and version
turtle_select=[]; desfield=''; version='lite';
for i1=1:nargin,
    if isnumeric(varargin{i1}),
        turtle_select=[turtle_select,varargin{i1}];
    else
        %check for 'lite' or 'real'
        if strcmp(varargin{i1},'real'),
            version='real';
            disp('Building real worldmodel for simulator');
            break;
        elseif strcmp(varargin{i1},'lite'),
            disp('Building lite version of worldmodel for simulator');
            break;
        end

        %check for fieldname
        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

if version == 'real'
    cd /home/robocup/svn/trunk/src/Turtle2/WorldModel
    %create copy of worldmodel.mdl, rename to worldmodel_sim.mdl
    !cp worldmodel.mdl worldmodel_sim.mdl
else
    cd /home/robocup/svn/trunk/src/Turtle2/Simulator

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

% init tuning
%get tunable parameter definitions
evalin('base','WMTuneparams = get_global_par(''WMTuneparams'');')

%define tunable parameters
set_tunabledata_worldmodel();

% worldmodel tuning defaults
init_worldmodel_tuning;

%remove old executable and build directories
try
    warning('off','MATLAB:DELETE:FileNotFound');
    delete('worldmodel_sim');
    warning('on','MATLAB:DELETE:FileNotFound');
    rmdir('slprj','s');
    rmdir('worldmodel_sim_*','s');
    disp('old executable and build directories have been removed')
catch
end

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

% set the rtw custom code properties
set_param(cs,'CustomInclude','./include ./src ../Libs/multicast ../Libs/ipcomm2 ../Targets/wintarget ../Global_par ../Vision/src ../Libs/GeneralFunctions')
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/libgeneral_functions.a')

% 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('worldmodel_sim');
close_system('worldmodel_sim');

%% build executable
try
    rtwbuild('worldmodel_sim')

    %copy executable
    if version == 'real'
        if isempty(turtle_select)
            !cp worldmodel_sim ../Simulator/bin/worldmodel_sim1
            !cp worldmodel_sim ../Simulator/bin/worldmodel_sim2
            !cp worldmodel_sim ../Simulator/bin/worldmodel_sim3
            !cp worldmodel_sim ../Simulator/bin/worldmodel_sim4
            !cp worldmodel_sim ../Simulator/bin/worldmodel_sim5
            !cp worldmodel_sim ../Simulator/bin/worldmodel_sim6
        else
            for i = 1:length(turtle_select)
                eval(['!cp worldmodel_sim ../Simulator/bin/worldmodel_sim' num2str(turtle_select(i))])
            end
        end
        % delete the copied version of the worldmodel
        delete('worldmodel_sim.mdl');
    else
        if isempty(turtle_select)
            !cp worldmodel_sim bin/worldmodel_sim1
            !cp worldmodel_sim bin/worldmodel_sim2
            !cp worldmodel_sim bin/worldmodel_sim3
            !cp worldmodel_sim bin/worldmodel_sim4
            !cp worldmodel_sim bin/worldmodel_sim5
            !cp worldmodel_sim bin/worldmodel_sim6
        else
            for i = 1:length(turtle_select)
                eval(['!cp worldmodel_sim bin/worldmodel_sim' num2str(turtle_select(i))])
            end
        end

        %replace copy of worldmodel_sim.mdl
        !cp worldmodel_sim_temporary_copy.mdl worldmodel_sim.mdl
        delete('worldmodel_sim_temporary_copy.mdl');
    end

    %delete original
    delete('worldmodel_sim');

    cleanupworldmodelsim(deffield,desfield);
catch
    err = lasterr;
    cleanupworldmodelsim(deffield,desfield);
    error(err);
end
cd(curdir);

%% cleanup worldmodel sim after building
function cleanupworldmodelsim(deffield,desfield)

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