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).

%% init
curdir=pwd;
addpathrobocup;

%kill running application
!sudo killall simulator

% retrieve desired field
desfield='';
if nargin,
    cd /home/robocup/svn/trunk/src/Turtle2/Global_par
    fieldnamelist=getfieldnamelist;
    cd(curdir);
    for i2=1:length(fieldnamelist),
        if strcmp(fieldnamelist{i2},varargin{1}),
            desfield=varargin{1};
            break;
        end
    end
    if isempty(desfield),
        disp('You requested a non-existing field! Building for default field instead.');
    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('simulator');
    warning('on','MATLAB:DELETE:FileNotFound');
    rmdir('slprj','s');
    rmdir('simulator_*','s');
    disp('old executable and build directories have been removed')
catch
end

%load motion settings, including port data from setparameters.m
curdir = pwd;
cd ../Motion;
init_motion();
cd(curdir);

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

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

%set the rtw custom code properties
set_param(cs,'CustomInclude','../Libs/multicast ../Global_par')
set_param(cs,'CustomSource','')
set_param(cs,'CustomLibrary','/usr/lib/librtdb.so')

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

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

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

%% build executable
try
    rtwbuild('simulator')
    cleanupsimulator(deffield,desfield);
catch
    err = lasterr;
    cleanupsimulator(deffield,desfield);
    error(err);
end
cd(curdir);

%% cleanup simulator after building
function cleanupsimulator(deffield,desfield)

%replace copy of simulator.mdl
!cp simulator_temporary_copy.mdl simulator.mdl
delete('simulator_temporary_copy.mdl');

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