clear all;close all;clc;

FILE = 'kinect_struct_standalone';
home_dir = ' /home/robocup/svn/trunk/src/Turtle2';

%remove build directories
try
    rmdir('slprj','s');
    rmdir([FILE '_*'],'s');
    warning('off','MATLAB:DELETE:FileNotFound');
    delete(FILE);
    warning('on','MATLAB:DELETE:FileNotFound');
    disp('build directories have been removed')
catch
end

load_system(FILE);
cs = getActiveConfigSet(FILE);
set(cs.Components(1),'FixedStep',num2str(1/30));

%set the rtw custom code properties
set_param(cs,'CustomInclude',[home_dir '/Libs/kinect/include' home_dir '/Global_par' home_dir '/WorldModel/include' home_dir '/Libs/ipcomm2' home_dir '/Libs/GeneralFunctions'])
set_param(cs,'CustomSource','')
set_param(cs,'CustomLibrary',['/usr/local/lib/libfreenect.so' home_dir '/Libs/GeneralFunctions/generic_functions.o' home_dir '/Libs/GeneralFunctions/generic_object_lib.o'])

%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 CC="ccache gcc" OPTS="-DTIMER_ID=2 -D_GNU_SOURCE -DNO_EC"'])
pause(2) 

%save and close the system
save_system(FILE);
close_system(FILE);

% build executable
rtwbuild(FILE)