xvsdk.nix

{ stdenv
, lib
, dpkg
, autoPatchelfHook
, makeWrapper
, patchelf
, libusb1
, libjpeg8
, zlib
, opencv
, boost
, systemd
, callPackage
}:

let
  octomap = callPackage ./octomap-1.9.nix { };
in

stdenv.mkDerivation rec {
  pname = "xvsdk";
  version = "3.2.0-20230907";

  src = ./xvsdk_3.2.0-20230907_focal_amd64.deb;

  nativeBuildInputs = [
    dpkg
    makeWrapper
    patchelf
  ];

  buildInputs = [
    stdenv.cc.cc.lib
    libusb1
    libjpeg8
    zlib
    systemd
    opencv
    octomap
    boost
  ];

  dontAutoPatchelf = true;

  unpackPhase = "dpkg-deb -x $src .";

  installPhase = ''
    mkdir -p $out
    cp -r usr/* $out/
    
    if [ -d lib ]; then
      cp -r lib $out/
    elif [ -d usr/lib ]; then
      cp -r usr/lib $out/
    else
      echo "Error: Neither 'lib' nor 'usr/lib' directory found"
      exit 1
    fi
    
    mkdir -p $out/include $out/src $out/include2
    cp -r usr/include/* $out/include/
    cp -r usr/include2/* $out/include2/
    cp -r usr/share/xvsdk/* $out/src/
    
    substituteInPlace $out/lib/pkgconfig/xvsdk.pc \
      --replace "/usr" "$out"
    
    mkdir -p $out/bin
    if [ -d usr/bin ]; then
      for f in usr/bin/*; do
        if [ ! -e "$out/bin/$(basename $f)" ]; then
          ln -s $out/$(realpath --relative-to="$out" "$f") $out/bin/$(basename $f)
        fi
      done
    fi

    # Handle OpenCV version mismatch by creating compatibility symlinks
    mkdir -p $out/lib

    # Create symlinks for OpenCV 4.2 that the binary expects
    for lib in core imgproc highgui imgcodecs; do
      actual_lib=$(ls ${opencv}/lib/libopencv_''${lib}.so.* 2>/dev/null | head -n1)
      if [ -n "$actual_lib" ]; then
        ln -sf "$actual_lib" $out/lib/libopencv_''${lib}.so.4.2
        echo "Created symlink: libopencv_''${lib}.so.4.2 -> $actual_lib"
      fi
    done

    if [ -f $out/lib/x86_64-linux-gnu/libxvuvc.so.0 ]; then
      ln -sf $out/lib/x86_64-linux-gnu/libxvuvc.so.0 $out/lib/libxvuvc.so.0
    fi

    cp -L ${libjpeg8.out}/lib/libjpeg.so.8 $out/lib/libjpeg.so.8 || \
    cp -L ${libjpeg8}/lib/libjpeg.so.8 $out/lib/libjpeg.so.8

    cp ${./xv_c_wrapper.h} $out/include/xvsdk/xv_c_wrapper.h

    g++ -std=c++11 -shared -fPIC \
      -I$out/include/xvsdk \
      -I$out/include2 \
      -I${opencv}/include/opencv4 \
      -L$out/lib \
      -L${opencv}/lib \
      -L${libjpeg8}/lib \
      -o $out/lib/libxv_c_wrapper.so ${./xv_c_wrapper.cpp} \
      -lxvsdk -lxslam-slam_core -lxslam-uvc-sdk -lxslam-vsc-sdk \
      -loctomap -loctomath -lusb-1.0 -ljpeg \
      -Wl,-rpath,$out/lib:${opencv}/lib:${octomap}/lib:${libusb1}/lib:${libjpeg8}/lib

    cp ${./xv_c_wrapper.h} $out/include/xv_c_wrapper.h
  '';

  fixupPhase = ''
    # Manually patch all ELF files
    echo "Patching ELF files..."

    # Define the complete RPATH
    FULL_RPATH="$out/lib:${opencv}/lib:${octomap}/lib:${libusb1}/lib:${libjpeg8}/lib:${zlib}/lib:${systemd}/lib:${stdenv.cc.cc.lib}/lib"

    # Patch libraries
    for lib in $out/lib/*.so* $out/lib/x86_64-linux-gnu/*.so*; do
      if [ -f "$lib" ] && file "$lib" | grep -q "ELF"; then
        echo "Patching library: $lib"
        patchelf --set-rpath "$FULL_RPATH" "$lib" || true
      fi
    done

    # Patch binaries
    for bin in $out/bin/*; do
      if [ -f "$bin" ] && file "$bin" | grep -q "ELF"; then
        echo "Patching binary: $bin"
        patchelf --set-rpath "$FULL_RPATH" "$bin" || true

        # Also wrap the program to ensure LD_LIBRARY_PATH is set
        wrapProgram "$bin" \
          --prefix LD_LIBRARY_PATH : "$FULL_RPATH"
      fi
    done

    echo "Fixup phase completed"
  '';

  meta = with lib; {
    description = "XVSDK for XVisio devices";
    homepage = "https://www.xvisio.com/";
    license = licenses.unfree;
    platforms = ["x86_64-linux"];
    maintainers = with maintainers; [ ];
  };
}