#!/bin/bash
# =============================================================================
# ArduPilot Controller Launcher
# =============================================================================
# Starts ArduPilot SITL and your drone controller together.
#
# Usage:
#   Terminal 1: ./scripts/run_ardupilot_sim.sh runway
#   Terminal 2: ./scripts/run_ardupilot_controller.sh
# =============================================================================

set -e

SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
PROJECT_DIR="$(dirname "$SCRIPT_DIR")"

# Deactivate any existing virtual environment to avoid conflicts
if [ -n "$VIRTUAL_ENV" ]; then
    deactivate 2>/dev/null || true
fi

# Source ArduPilot environment
if [ -f "$HOME/.ardupilot_env" ]; then
    source "$HOME/.ardupilot_env"
fi

# Activate ArduPilot venv (has empy and other dependencies)
if [ -f "$HOME/venv-ardupilot/bin/activate" ]; then
    source "$HOME/venv-ardupilot/bin/activate"
fi

echo "=============================================="
echo "  ArduPilot Controller"
echo "=============================================="
echo ""

# Check dependencies
if ! command -v sim_vehicle.py &> /dev/null; then
    echo "[ERROR] sim_vehicle.py not found"
    echo ""
    echo "Fix: Add ArduPilot tools to PATH:"
    echo "  export PATH=\$PATH:~/ardupilot/Tools/autotest"
    echo ""
    echo "Or source the ArduPilot environment:"
    echo "  source ~/.ardupilot_env"
    exit 1
fi

# Verify empy is available
if ! python3 -c "import em" 2>/dev/null; then
    echo "[ERROR] empy not found"
    echo ""
    echo "Fix: Install empy in ArduPilot venv:"
    echo "  source ~/venv-ardupilot/bin/activate"
    echo "  pip install empy==3.3.4"
    exit 1
fi

echo "[INFO] Environment OK"
echo "[INFO] Python: $(which python3)"
echo ""

# Start SITL with console output
echo "[INFO] Starting ArduPilot SITL..."
echo "[INFO] This will build ArduCopter if needed (first run takes ~2 min)"
echo ""

# Run sim_vehicle in a way that shows output
sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console --map &
SITL_PID=$!

# Wait for SITL to be ready (check for TCP port 5760)
echo "[INFO] Waiting for SITL to start (TCP 5760)..."
TRIES=0
MAX_TRIES=60  # 60 seconds max
while ! nc -z 127.0.0.1 5760 2>/dev/null; do
    sleep 1
    TRIES=$((TRIES + 1))
    if [ $TRIES -ge $MAX_TRIES ]; then
        echo "[ERROR] Timeout waiting for SITL on port 5760"
        kill $SITL_PID 2>/dev/null || true
        exit 1
    fi
    # Check if SITL process is still running
    if ! kill -0 $SITL_PID 2>/dev/null; then
        echo "[ERROR] SITL process died"
        exit 1
    fi
    echo -n "."
done
echo ""
echo "[OK] SITL is ready on TCP 5760"
echo ""

# Give it a moment more to stabilize
sleep 2

# Trap to kill SITL on exit
trap "echo ''; echo '[INFO] Stopping SITL...'; kill $SITL_PID 2>/dev/null; exit 0" INT TERM

# Run controller
echo "[INFO] Starting drone controller..."
echo "[INFO] Press Ctrl+C to stop"
echo ""
cd "$PROJECT_DIR"
python scripts/run_ardupilot.py "$@"

# Cleanup
kill $SITL_PID 2>/dev/null