if [ -f /etc/lsb-release ]; then
  . /etc/lsb-release
fi

if [ _$DISTRIB_ID = _Ubuntu ]; then
  #tested on Ubuntu 17.10
  #we must run as root
  if [ $EUID -ne 0 ]; then
    exec sudo -E $0 $*
  fi

  #we must run in root cgroup to escape possible restrictions on scheduling
  if [ -d /sys/fs/cgroup/cpu ]; then
    echo $$ > /sys/fs/cgroup/cpu/tasks
  fi

  #special actions if we use 3D
  ldd $EXEC | grep "libGL.so" > /dev/null
  if [ $? -eq 0 ]; then
    #allow root access to the X server
    xhost si:localuser:root

    #Mesa DRI driver may need a libstdc++ more recent than robomap3's
    ldconfig -p | grep mesa > /dev/null
    if [ $? -eq 0 ]; then
      read DRI_CARD_MAJOR DRI_CARD_MINOR < <(stat -c '%t %T' /dev/dri/card0)
      DRIVER=$(cat /sys/dev/char/$((16#$DRI_CARD_MAJOR)):$((16#$DRI_CARD_MINOR))/device/uevent | grep DRIVER | cut -d= -f2)
      echo "Mesa DRI driver is $DRIVER"
      DRIVER_LIB=$(LIBGL_DEBUG=verbose glxinfo 2>&1 | grep OpenDriver | tail -n 1 | sed -e "s/.* \(.*\)/\1/")
      #get the highest required version of CXXABI
      CXXABI_REQUIRED=$(objdump -T $DRIVER_LIB | grep CXXABI | sed -e 's/.*CXXABI_\(.*\) .*/\1/' | sort -uV | tail -1)
      #get currently used libstdc++
      LIBSTDCXX_PROVIDED=$(ldd $EXEC | grep libstdc++ | sed -e 's/.*=> \(.*\) (.*/\1/')
      #get the highest version of CXXABI supported by the libstdc++
      CXXABI_PROVIDED=$(objdump -T $LIBSTDCXX_PROVIDED | grep ".*CXXABI_[0-9.]*$" | sed -e 's/.*CXXABI_\(.*\)/\1/' | sort -V | tail -1)
      if [ $(echo -e "$CXXABI_PROVIDED\n$CXXABI_REQUIRED" | sort -V | tail -n1) != $CXXABI_PROVIDED ]; then
        echo "We must use the local system libstdc++"
        export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6
      fi
    fi
  fi
fi