From b74099418566953850b546e2ede46fad4d9ffb97 Mon Sep 17 00:00:00 2001
From: default <adithcool.5@gmail.com>
Date: Wed, 31 Dec 2025 23:56:58 +0000
Subject: [PATCH] Windows Install Script Update

---
 setup/install_windows.ps1 | 157 +++++++++++++++++++++++++++++++++-----
 1 file changed, 136 insertions(+), 21 deletions(-)

diff --git a/setup/install_windows.ps1 b/setup/install_windows.ps1
index 372f0b1..312848e 100644
--- a/setup/install_windows.ps1
+++ b/setup/install_windows.ps1
@@ -33,21 +33,58 @@ if (-not $isAdmin) {
     Write-Host ""
 }
 
+# Function to refresh environment PATH
+function Refresh-Path {
+    $env:Path = [System.Environment]::GetEnvironmentVariable("Path","Machine") + ";" + [System.Environment]::GetEnvironmentVariable("Path","User")
+    # Also add common Chocolatey paths
+    $chocoPath = "$env:ProgramData\chocolatey\bin"
+    if (Test-Path $chocoPath) {
+        $env:Path = "$chocoPath;$env:Path"
+    }
+}
+
 # -----------------------------------------------------------------------------
 # Step 1: Install Chocolatey (Package Manager)
 # -----------------------------------------------------------------------------
 Write-Host "[STEP 1/7] Checking Chocolatey..." -ForegroundColor Green
 
-if (-not (Get-Command choco -ErrorAction SilentlyContinue)) {
+$chocoInstalled = $false
+try {
+    $chocoVersion = choco --version 2>$null
+    if ($chocoVersion) {
+        $chocoInstalled = $true
+        Write-Host "[INFO] Chocolatey already installed (version $chocoVersion)" -ForegroundColor Green
+    }
+} catch {
+    $chocoInstalled = $false
+}
+
+if (-not $chocoInstalled) {
     Write-Host "[INFO] Installing Chocolatey..." -ForegroundColor Yellow
-    Set-ExecutionPolicy Bypass -Scope Process -Force
-    [System.Net.ServicePointManager]::SecurityProtocol = [System.Net.ServicePointManager]::SecurityProtocol -bor 3072
-    Invoke-Expression ((New-Object System.Net.WebClient).DownloadString('https://community.chocolatey.org/install.ps1'))
     
-    # Refresh environment
-    $env:Path = [System.Environment]::GetEnvironmentVariable("Path","Machine") + ";" + [System.Environment]::GetEnvironmentVariable("Path","User")
-} else {
-    Write-Host "[INFO] Chocolatey already installed" -ForegroundColor Green
+    try {
+        Set-ExecutionPolicy Bypass -Scope Process -Force
+        [System.Net.ServicePointManager]::SecurityProtocol = [System.Net.ServicePointManager]::SecurityProtocol -bor 3072
+        Invoke-Expression ((New-Object System.Net.WebClient).DownloadString('https://community.chocolatey.org/install.ps1'))
+        
+        # Refresh environment to find choco
+        Refresh-Path
+        
+        # Verify installation
+        $chocoPath = "$env:ProgramData\chocolatey\bin\choco.exe"
+        if (Test-Path $chocoPath) {
+            Write-Host "[INFO] Chocolatey installed successfully" -ForegroundColor Green
+        } else {
+            Write-Host "[ERROR] Chocolatey installation failed. Please install manually:" -ForegroundColor Red
+            Write-Host "        https://chocolatey.org/install" -ForegroundColor Yellow
+            Write-Host "[INFO] After installing Chocolatey, close and reopen PowerShell, then run this script again." -ForegroundColor Yellow
+            exit 1
+        }
+    } catch {
+        Write-Host "[ERROR] Failed to install Chocolatey: $_" -ForegroundColor Red
+        Write-Host "[INFO] Please install Chocolatey manually: https://chocolatey.org/install" -ForegroundColor Yellow
+        exit 1
+    }
 }
 
 # -----------------------------------------------------------------------------
@@ -56,21 +93,81 @@ if (-not (Get-Command choco -ErrorAction SilentlyContinue)) {
 Write-Host ""
 Write-Host "[STEP 2/7] Installing Python..." -ForegroundColor Green
 
-if (-not (Get-Command python -ErrorAction SilentlyContinue)) {
-    choco install python311 -y
-    # Refresh environment
-    $env:Path = [System.Environment]::GetEnvironmentVariable("Path","Machine") + ";" + [System.Environment]::GetEnvironmentVariable("Path","User")
-} else {
-    Write-Host "[INFO] Python already installed" -ForegroundColor Green
+$pythonInstalled = $false
+try {
+    $pythonVersion = python --version 2>$null
+    if ($pythonVersion -match "Python 3") {
+        $pythonInstalled = $true
+        Write-Host "[INFO] Python already installed ($pythonVersion)" -ForegroundColor Green
+    }
+} catch {
+    $pythonInstalled = $false
+}
+
+if (-not $pythonInstalled) {
+    Write-Host "[INFO] Installing Python 3.11..." -ForegroundColor Yellow
+    
+    # Use full path to choco if needed
+    $chocoExe = "$env:ProgramData\chocolatey\bin\choco.exe"
+    if (Test-Path $chocoExe) {
+        & $chocoExe install python311 -y
+    } else {
+        choco install python311 -y
+    }
+    
+    Refresh-Path
+    
+    # Verify
+    try {
+        $pythonVersion = python --version
+        Write-Host "[INFO] Python installed ($pythonVersion)" -ForegroundColor Green
+    } catch {
+        Write-Host "[ERROR] Python installation failed" -ForegroundColor Red
+        Write-Host "[INFO] Please install Python 3.11 manually from https://python.org" -ForegroundColor Yellow
+        exit 1
+    }
 }
 
 # -----------------------------------------------------------------------------
-# Step 3: Install Visual C++ Build Tools
+# Step 3: Install Visual C++ Build Tools (optional but recommended)
 # -----------------------------------------------------------------------------
 Write-Host ""
-Write-Host "[STEP 3/7] Installing Visual C++ Build Tools..." -ForegroundColor Green
+Write-Host "[STEP 3/7] Checking Visual C++ Build Tools..." -ForegroundColor Green
 
-choco install visualstudio2022-workload-vctools -y
+# Check if cl.exe exists (Visual C++ compiler)
+$vsInstalled = $false
+$vsPaths = @(
+    "C:\Program Files\Microsoft Visual Studio\2022\BuildTools\VC\Tools\MSVC",
+    "C:\Program Files\Microsoft Visual Studio\2022\Community\VC\Tools\MSVC",
+    "C:\Program Files (x86)\Microsoft Visual Studio\2019\BuildTools\VC\Tools\MSVC"
+)
+
+foreach ($path in $vsPaths) {
+    if (Test-Path $path) {
+        $vsInstalled = $true
+        Write-Host "[INFO] Visual C++ Build Tools found" -ForegroundColor Green
+        break
+    }
+}
+
+if (-not $vsInstalled) {
+    Write-Host "[INFO] Visual C++ Build Tools not found" -ForegroundColor Yellow
+    Write-Host "[INFO] Attempting to install (this may take 10-20 minutes)..." -ForegroundColor Yellow
+    
+    try {
+        $chocoExe = "$env:ProgramData\chocolatey\bin\choco.exe"
+        if (Test-Path $chocoExe) {
+            & $chocoExe install visualstudio2022-workload-vctools -y
+        } else {
+            choco install visualstudio2022-workload-vctools -y
+        }
+        Write-Host "[INFO] Visual C++ Build Tools installed" -ForegroundColor Green
+    } catch {
+        Write-Host "[WARN] Could not install Visual C++ Build Tools automatically" -ForegroundColor Yellow
+        Write-Host "[INFO] PyBullet may fail to install. If it does, install Visual Studio Build Tools manually:" -ForegroundColor Yellow
+        Write-Host "       https://visualstudio.microsoft.com/visual-cpp-build-tools/" -ForegroundColor Yellow
+    }
+}
 
 # -----------------------------------------------------------------------------
 # Step 4: Download and Install ROS 2
@@ -91,7 +188,15 @@ if (-not (Test-Path $ros2Path)) {
     $ros2Zip = "$env:TEMP\ros2-humble.zip"
     
     Write-Host "[INFO] This may take a while (1-2 GB download)..." -ForegroundColor Yellow
-    Invoke-WebRequest -Uri $ros2Url -OutFile $ros2Zip
+    
+    try {
+        # Use BITS for more reliable download
+        Start-BitsTransfer -Source $ros2Url -Destination $ros2Zip -DisplayName "Downloading ROS 2"
+    } catch {
+        # Fallback to Invoke-WebRequest
+        Write-Host "[INFO] Using alternative download method..." -ForegroundColor Yellow
+        Invoke-WebRequest -Uri $ros2Url -OutFile $ros2Zip
+    }
     
     Write-Host "[INFO] Extracting ROS 2..." -ForegroundColor Yellow
     Expand-Archive -Path $ros2Zip -DestinationPath "C:\dev" -Force
@@ -133,7 +238,7 @@ $requirementsFile = Join-Path $ProjectRoot "requirements.txt"
 if (Test-Path $requirementsFile) {
     pip install -r $requirementsFile
 } else {
-    pip install pybullet pyinstaller
+    pip install pybullet pyinstaller pillow
 }
 
 Write-Host "[INFO] Python packages installed in venv" -ForegroundColor Green
@@ -149,7 +254,7 @@ $activateBat = Join-Path $ProjectRoot "activate.bat"
 @"
 @echo off
 REM =============================================================================
-REM Drone Competition - Environment Activation Script (Windows CMD)
+REM Drone Simulation - Environment Activation Script (Windows CMD)
 REM =============================================================================
 REM Usage: activate.bat
 REM =============================================================================
@@ -164,6 +269,7 @@ echo.
 echo [OK] Environment ready! You can now run:
 echo   python simulation_host.py
 echo   python ros_bridge.py
+echo   python controllers.py
 echo.
 "@ | Out-File -FilePath $activateBat -Encoding ASCII
 
@@ -171,7 +277,7 @@ echo.
 $activatePs1 = Join-Path $ProjectRoot "activate.ps1"
 @"
 # =============================================================================
-# Drone Competition - Environment Activation Script (Windows PowerShell)
+# Drone Simulation - Environment Activation Script (Windows PowerShell)
 # =============================================================================
 # Usage: . .\activate.ps1
 # =============================================================================
@@ -188,6 +294,7 @@ Write-Host ""
 Write-Host "[OK] Environment ready! You can now run:" -ForegroundColor Green
 Write-Host "  python simulation_host.py"
 Write-Host "  python ros_bridge.py"
+Write-Host "  python controllers.py"
 Write-Host ""
 "@ | Out-File -FilePath $activatePs1 -Encoding UTF8
 
@@ -218,6 +325,12 @@ try {
     Write-Host "  PyInstaller: FAILED" -ForegroundColor Red
 }
 
+try {
+    python -c "import PIL; print('  Pillow: OK')"
+} catch {
+    Write-Host "  Pillow: FAILED" -ForegroundColor Red
+}
+
 Write-Host ""
 Write-Host "==============================================" -ForegroundColor Cyan
 Write-Host "  IMPORTANT: Activate the environment first!" -ForegroundColor Cyan
@@ -229,4 +342,6 @@ Write-Host "  PowerShell: . $activatePs1" -ForegroundColor White
 Write-Host ""
 Write-Host "Then run the simulation:" -ForegroundColor Yellow
 Write-Host "  python simulation_host.py" -ForegroundColor White
+Write-Host "  python ros_bridge.py" -ForegroundColor White
+Write-Host "  python controllers.py" -ForegroundColor White
 Write-Host ""