function make_all_install()
%%% makefile which installs a complete package for the tech united robot
%%% players. run this file and all libraries are automatically installed
%%% in the correct directories.

!killall trc 1>/dev/null 2>&1 &

% Check authority
[resultstring,errorcheck]=evalc('system(''cd ~ && pwd'')');
if ~errorcheck,
    switch resultstring(1:5),
        case '/root',
            disp('Authority check passed.');
        otherwise,
            [resultstring,errorcheck]=evalc('system(''whoami'')');
            if ~errorcheck,
                switch resultstring(1:4),
                    case 'root',
                        edlg = errordlg(['You thought ''sudo matlab'' would get you there? Nono you''re still a prutser, restart '...
                            'Matlab and use ''sudo -i'' or ''sudo su'' this time.']);
                    otherwise,
                        edlg = errordlg('You don''t have root permissions (prutser)! Restart Matlab.');
                end
                waitfor(edlg);
            end
            error(['Restart Matlab from a shell with root privileges to make use of the Tech United Eindhoven software or go to '...
                'the ''How to make your computer a DevPC'' wiki for instructions on how to obtain a fancy panel launcher button '...
                'that does this for you.']);
    end
else disp('WARNING: authority check failed');
end

% Run make_all_clean first
disp('Cleaning up old files and executables')
make_all_clean;

% Go to Turtle2 path and save it
cd /home/robocup/svn/trunk/src/Turtle2
curdirrobocup = cd;

try
    % Check if buildlibs_once needs to be executed (this check was added at buildlibs_once revision 5984)
    cd Libs
    !svn info buildlibs_once | grep "Last Changed Rev: " > libOnceVersionFromSvn
    libVerSvn = importdata('libOnceVersionFromSvn'); libVerSvn = libVerSvn.data;
    if libVerSvn ~= 5984 
        if exist('libOnceVersionInstalled','file') 
            libVerInst = fileread('libOnceVersionInstalled');
        else
            libVerInst = 'unknown';
        end
        if strcmp(libVerInst,fileread('libOnceVersionFromSvn'))
            disp('Most recent buildlibs_once was installed.')
        else
            if (strcmp(libVerInst,'unknown'))
                % If there seems to be no build yet, do it now without asking
                !chmod a+x buildlibs_once
                !./buildlibs_once
            elseif( strcmp(questdlg(sprintf(['The buildlibs_once script has been updated on svn! Would you like to run buildlibs_once now? \n\nPlease note: this takes 1 minute.\n']),...
                'Run buildlibs_once first!','yes','no','no'),'yes'))
                disp('Building libraries...'),pause(1)    
                !chmod a+x buildlibs_once
                !./buildlibs_once
            else
                disp('Libraries not up to date, continuing make_all_install...'),pause(1)
                cd(curdirrobocup)
            end
        end    
    end
    cd(curdirrobocup)

    %%%% INSTALL LIBRARIES %%%%
    cd Libs
    !chmod a+x buildlibs
    !./buildlibs
    cd(curdirrobocup)

    cd Libs/GeneralFunctions
    make_genfunlib;
    disp('General functions library created');
    cd(curdirrobocup)

    % general function
    make_general_robocup_functions()

    % Install tools
    disp('%%%%%%%%%%%%% Installing tools %%%%%%%%%%%%%%%%')
    cd Tools
    make_tools;
    cd(curdirrobocup)

    % Set the Matlab paths
    addpathrobocup;


    cd(curdirrobocup)

    cd Global_par
    selectfield 1
    cd ..

    % Install Targets
    cd Targets
    make;
    cd(curdirrobocup)

    % Install Robocup Simulink Library
    cd Libs/Simulink
    make
    cd(curdirrobocup)

    % install simulator
    cd Simulator
    make_simulator
    cd(curdirrobocup)

    % Communication
    disp('%%%%%%%%%%%%% Installing communication software %%%%%%%%%%%%%%%%')
    make_communication
    % mex all source files
    disp('%%%%%%%%%%%%% Mexing strategy source files %%%%%%%%%%%%%%%%')
    make_strategy
    disp('%%%%%%%%%%%%% Mexing motion source files %%%%%%%%%%%%%%%%')
    make_motion
    disp('%%%%%%%%%%%%% Mexing vision source files %%%%%%%%%%%%%%%%')
    make_vision
    disp('%%%%%%%%%%%%% Mexing worldmodel source files %%%%%%%%%%%%%%%%')
    make_worldmodel

    % write svn version
    cd /home/robocup/svn/trunk/src/Turtle2
    !sudo svn info >ttt
    !sudo grep Revision <ttt >/home/robocup/svnver.txt
    !sudo rm -f ttt
    
catch ME
    !/home/robocup/svn/trunk/dev/Jorrit/build_complete.sh "make failure 😭" 2>/dev/null
    rethrow(ME);
end

disp('        _____ _____ _____ __  __   __  __ ______ __ _____ _____ ____');
disp('       /_  _// ___// ___// / / /  / / / // __  // //_  _// ___// __ \');
disp('        / / / /_  / /   / /_/ /  / / / // / / // /  / / / /_  / / / /');
disp('       / / / __/ / /   / __  /  / / / // / / // /  / / / __/ / / / /');
disp('      / / / /__ / /__ / / / /  / /_/ // / / // /  / / / /__ / /_/ /');
disp('     /_/ /____//____//_/ /_/  /_____//_/ /_//_/  /_/ /____//_____/');
disp(' ');
disp('            _____ __ ______ ____   __  __  ___   __  __ _____ ______');
disp('           / ___// // __  // __ \ / / / // __ \ / / / // ___// __  /');
disp('          / /_  / // / / // / / // /_/ // / / // / / // /_  / / / /');
disp('         / __/ / // / / // / / // __  // / / // / / // __/ / / / /');
disp('        / /__ / // / / // /_/ // / / // /_/ // /_/ // /__ / / / /');
disp('       /____//_//_/ /_//_____//_/ /_/ \____/ \____//____//_/ /_/');
disp(' ')
disp('Tech United Robocup Software is happy to be installed on your system...');

end