param(
    [ValidateRange(1, 32)]
    [int]$Jobs = 4,
    [switch]$Fresh
)

$ErrorActionPreference = "Stop"
. (Join-Path $PSScriptRoot "native_dep_versions.ps1")

$Cmake = Join-Path $CmakeRoot "bin\cmake.exe"
$requiredPaths = @(
    $Cmake,
    $Make,
    (Join-Path $MingwBin "gcc.exe"),
    (Join-Path $MingwBin "g++.exe"),
    $TinyXml2Source,
    $ConsoleBridgeSource,
    $UrdfdomHeadersSource,
    $UrdfdomSource
)
foreach ($required in $requiredPaths) {
    if (-not (Test-Path -LiteralPath $required)) {
        throw "Required path not found: $required"
    }
}

$env:PATH = "$MingwBin;$(Join-Path $CmakeRoot 'bin');$env:PATH"
$installCmake = $UrdfdomInstall.Replace("\", "/")
$mingwBinCmake = $MingwBin.Replace("\", "/")
$makeCmake = $Make.Replace("\", "/")

function Build-CmakeDependency(
    [string]$Name,
    [string]$Source,
    [string]$Build,
    [string[]]$Options = @()
) {
    $sourceCmake = $Source.Replace("\", "/")
    $buildCmake = $Build.Replace("\", "/")
    if ($Fresh -and (Test-Path -LiteralPath $Build)) {
        $resolvedBuild = [System.IO.Path]::GetFullPath($Build)
        $resolvedRoot = [System.IO.Path]::GetFullPath($UrdfdomBuildRoot)
        if (-not $resolvedBuild.StartsWith($resolvedRoot, [System.StringComparison]::OrdinalIgnoreCase)) {
            throw "Refusing to replace build path outside urdfdom build root: $Build"
        }
        Remove-Item -LiteralPath $Build -Recurse -Force
    }

    & $Cmake -S $sourceCmake -B $buildCmake -G "MinGW Makefiles" `
        "-DCMAKE_BUILD_TYPE=Release" `
        "-DCMAKE_INSTALL_PREFIX=$installCmake" `
        "-DCMAKE_PREFIX_PATH=$installCmake" `
        "-DCMAKE_C_COMPILER=$mingwBinCmake/gcc.exe" `
        "-DCMAKE_CXX_COMPILER=$mingwBinCmake/g++.exe" `
        "-DCMAKE_MAKE_PROGRAM=$makeCmake" `
        "-DCMAKE_POSITION_INDEPENDENT_CODE=ON" `
        "-DBUILD_SHARED_LIBS=OFF" `
        "-DBUILD_TESTING=OFF" `
        @Options
    if ($LASTEXITCODE -ne 0) { throw "$Name configure failed" }

    & $Cmake --build $Build --target install --parallel $Jobs
    if ($LASTEXITCODE -ne 0) { throw "$Name build failed" }
}

New-Item -ItemType Directory -Force $UrdfdomBuildRoot, $UrdfdomInstall | Out-Null

Build-CmakeDependency "TinyXML2" $TinyXml2Source (Join-Path $UrdfdomBuildRoot "tinyxml2") @(
    "-Dtinyxml2_BUILD_TESTING=OFF"
)
Build-CmakeDependency "console_bridge" $ConsoleBridgeSource (Join-Path $UrdfdomBuildRoot "console_bridge")
Build-CmakeDependency "urdfdom_headers" $UrdfdomHeadersSource (Join-Path $UrdfdomBuildRoot "urdfdom_headers")
Build-CmakeDependency "urdfdom" $UrdfdomSource (Join-Path $UrdfdomBuildRoot "urdfdom") @(
    "-DAPPEND_PROJECT_NAME_TO_INCLUDEDIR=OFF"
)

$parserHeader = Join-Path $UrdfdomInstall "include\urdf_parser\urdf_parser.h"
$modelLibrary = Join-Path $UrdfdomInstall "lib\liburdfdom_model.dll.a"
$modelRuntime = Join-Path $UrdfdomInstall "bin\liburdfdom_model.dll"
if (-not (Test-Path -LiteralPath $parserHeader) `
        -or -not (Test-Path -LiteralPath $modelLibrary) `
        -or -not (Test-Path -LiteralPath $modelRuntime)) {
    throw "urdfdom build finished but headers or libraries are missing"
}

Write-Host "urdfdom and parser dependencies installed to $UrdfdomInstall"