# =============================================================================
# Drone Simulation - Windows Installation Script (PowerShell)
# =============================================================================
# Installs PyBullet and Python dependencies
# ROS 2 is optional (complex setup, not required for standalone mode)
#
# Usage:
#   1. Open PowerShell as Administrator
#   2. Run: Set-ExecutionPolicy RemoteSigned -Scope CurrentUser
#   3. Run: .\install_windows.ps1
# =============================================================================

Write-Host "==============================================" -ForegroundColor Cyan
Write-Host "  Drone Simulation - Windows Installation" -ForegroundColor Cyan
Write-Host "==============================================" -ForegroundColor Cyan
Write-Host ""

# Get script and project paths
$ScriptDir = Split-Path -Parent $MyInvocation.MyCommand.Path
$ProjectRoot = Split-Path -Parent $ScriptDir
$VenvDir = Join-Path $ProjectRoot "venv"

Write-Host "[INFO] Project root: $ProjectRoot" -ForegroundColor Gray
Write-Host "[INFO] Virtual environment: $VenvDir" -ForegroundColor Gray

# Check for Administrator privileges
$isAdmin = ([Security.Principal.WindowsPrincipal] [Security.Principal.WindowsIdentity]::GetCurrent()).IsInRole([Security.Principal.WindowsBuiltInRole]::Administrator)
if (-not $isAdmin) {
    Write-Host "[WARN] Not running as Administrator. Some installations may fail." -ForegroundColor Yellow
    Write-Host ""
}

# Function to refresh environment PATH
function Refresh-Path {
    $env:Path = [System.Environment]::GetEnvironmentVariable("Path","Machine") + ";" + [System.Environment]::GetEnvironmentVariable("Path","User")
    $chocoPath = "$env:ProgramData\chocolatey\bin"
    if (Test-Path $chocoPath) {
        $env:Path = "$chocoPath;$env:Path"
    }
}

# -----------------------------------------------------------------------------
# Step 1: Install Chocolatey (Package Manager)
# -----------------------------------------------------------------------------
Write-Host "[STEP 1/5] Checking Chocolatey..." -ForegroundColor Green

$chocoInstalled = $false
try {
    $chocoVersion = choco --version 2>$null
    if ($chocoVersion) {
        $chocoInstalled = $true
        Write-Host "[INFO] Chocolatey already installed" -ForegroundColor Green
    }
} catch {
    $chocoInstalled = $false
}

if (-not $chocoInstalled) {
    Write-Host "[INFO] Installing Chocolatey..." -ForegroundColor Yellow
    
    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-Path
        Write-Host "[INFO] Chocolatey installed" -ForegroundColor Green
    } catch {
        Write-Host "[WARN] Chocolatey installation failed, continuing..." -ForegroundColor Yellow
    }
}

# -----------------------------------------------------------------------------
# Step 2: Install Python
# -----------------------------------------------------------------------------
Write-Host ""
Write-Host "[STEP 2/5] Checking Python..." -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
    
    $chocoExe = "$env:ProgramData\chocolatey\bin\choco.exe"
    if (Test-Path $chocoExe) {
        & $chocoExe install python311 -y
    } else {
        Write-Host "[ERROR] Please install Python 3.11 manually from https://python.org" -ForegroundColor Red
        exit 1
    }
    
    Refresh-Path
}

# -----------------------------------------------------------------------------
# Step 3: Create Python Virtual Environment
# -----------------------------------------------------------------------------
Write-Host ""
Write-Host "[STEP 3/5] Creating Python virtual environment..." -ForegroundColor Green

if (Test-Path $VenvDir) {
    Remove-Item -Recurse -Force $VenvDir
}

python -m venv $VenvDir
Write-Host "[INFO] Virtual environment created" -ForegroundColor Green

# -----------------------------------------------------------------------------
# Step 4: Install Python Dependencies
# -----------------------------------------------------------------------------
Write-Host ""
Write-Host "[STEP 4/5] Installing Python dependencies..." -ForegroundColor Green

& "$VenvDir\Scripts\Activate.ps1"

python -m pip install --upgrade pip

$requirementsFile = Join-Path $ProjectRoot "requirements.txt"
if (Test-Path $requirementsFile) {
    Write-Host "[INFO] Installing from requirements.txt..." -ForegroundColor Gray
    pip install -r $requirementsFile
} else {
    Write-Host "[INFO] Installing packages manually..." -ForegroundColor Gray
    pip install pybullet
    pip install numpy
    pip install pillow
    pip install pyinstaller
}

Write-Host "[INFO] Python packages installed" -ForegroundColor Green

# -----------------------------------------------------------------------------
# Step 5: Create Activation Scripts
# -----------------------------------------------------------------------------
Write-Host ""
Write-Host "[STEP 5/5] Creating activation scripts..." -ForegroundColor Green

# Create batch file for cmd.exe
$activateBat = Join-Path $ProjectRoot "activate.bat"
@"
@echo off
REM Drone Simulation - Environment Activation (Windows CMD)

call "%~dp0venv\Scripts\activate.bat"

echo.
echo [OK] Environment ready!
echo.
echo Run: python standalone_simulation.py
echo.
"@ | Out-File -FilePath $activateBat -Encoding ASCII

# Create PowerShell script
$activatePs1 = Join-Path $ProjectRoot "activate.ps1"
@"
# Drone Simulation - Environment Activation (Windows PowerShell)
# Usage: . .\activate.ps1

`$ScriptDir = Split-Path -Parent `$MyInvocation.MyCommand.Path

# Activate Python virtual environment
& "`$ScriptDir\venv\Scripts\Activate.ps1"

Write-Host ""
Write-Host "[OK] Environment ready!" -ForegroundColor Green
Write-Host ""
Write-Host "Run: python standalone_simulation.py" -ForegroundColor White
Write-Host ""
"@ | Out-File -FilePath $activatePs1 -Encoding UTF8

Write-Host "[INFO] Created activation scripts" -ForegroundColor Green

# -----------------------------------------------------------------------------
# Verification
# -----------------------------------------------------------------------------
Write-Host ""
Write-Host "==============================================" -ForegroundColor Cyan
Write-Host "  Verifying Installation..." -ForegroundColor Cyan
Write-Host "==============================================" -ForegroundColor Cyan
Write-Host ""

$pybulletOk = python -c "import pybullet; print('  PyBullet: OK')" 2>&1
if ($LASTEXITCODE -eq 0) {
    Write-Host $pybulletOk -ForegroundColor Green
} else {
    Write-Host "  PyBullet: FAILED" -ForegroundColor Red
}

$numpyOk = python -c "import numpy; print('  NumPy: OK')" 2>&1
if ($LASTEXITCODE -eq 0) {
    Write-Host $numpyOk -ForegroundColor Green
} else {
    Write-Host "  NumPy: FAILED" -ForegroundColor Red
}

$pillowOk = python -c "from PIL import Image; print('  Pillow: OK')" 2>&1
if ($LASTEXITCODE -eq 0) {
    Write-Host $pillowOk -ForegroundColor Green
} else {
    Write-Host "  Pillow: FAILED (install with: pip install pillow)" -ForegroundColor Yellow
}

Write-Host ""
Write-Host "=============================================="  -ForegroundColor Cyan
Write-Host "  Installation Complete!" -ForegroundColor Cyan
Write-Host "=============================================="  -ForegroundColor Cyan
Write-Host ""
Write-Host "Quick start:" -ForegroundColor Yellow
Write-Host "  . .\activate.ps1" -ForegroundColor White
Write-Host "  python standalone_simulation.py" -ForegroundColor White
Write-Host ""
Write-Host "With moving rover:" -ForegroundColor Yellow
Write-Host "  python standalone_simulation.py --pattern circular --speed 0.3" -ForegroundColor White
Write-Host ""
Write-Host "======================================================" -ForegroundColor Cyan
Write-Host "  Want ROS 2 + Gazebo + ArduPilot? Use WSL2" -ForegroundColor Cyan
Write-Host "======================================================" -ForegroundColor Cyan
Write-Host ""
Write-Host "For the full simulation with Gazebo and ArduPilot:" -ForegroundColor Gray
Write-Host ""
Write-Host "Step 1: Install WSL2" -ForegroundColor Yellow
Write-Host "  wsl --install -d Ubuntu-24.04" -ForegroundColor White
Write-Host "  # Restart your computer when prompted" -ForegroundColor DarkGray
Write-Host ""
Write-Host "Step 2: Open Ubuntu and install" -ForegroundColor Yellow
Write-Host "  cd /mnt/c/path/to/RDC_Simulation" -ForegroundColor White
Write-Host "  ./setup/install_ubuntu.sh --with-ardupilot" -ForegroundColor White
Write-Host "  source ~/.bashrc" -ForegroundColor White
Write-Host ""
Write-Host "Step 3: Run simulation (2 terminals)" -ForegroundColor Yellow
Write-Host "  Terminal 1: ./scripts/run_ardupilot_sim.sh runway" -ForegroundColor White
Write-Host "  Terminal 2: ./scripts/run_ardupilot_controller.sh" -ForegroundColor White
Write-Host ""
Write-Host "GPU Acceleration in WSL:" -ForegroundColor Yellow
Write-Host "  - Windows 11: WSLg auto-enabled (no setup needed)" -ForegroundColor DarkGray
Write-Host "  - NVIDIA GPU: Install WSL driver from nvidia.com/cuda/wsl" -ForegroundColor DarkGray
Write-Host "  - Check: glxinfo | grep 'OpenGL renderer'" -ForegroundColor DarkGray
Write-Host ""
Write-Host "WSL Tips:" -ForegroundColor Yellow
Write-Host "  - Access Windows files: /mnt/c/Users/YourName/" -ForegroundColor DarkGray
Write-Host "  - Open folder in Explorer: explorer.exe ." -ForegroundColor DarkGray
Write-Host "  - Increase memory: Create %UserProfile%\.wslconfig" -ForegroundColor DarkGray
Write-Host ""
Write-Host "See docs/installation.md for detailed instructions." -ForegroundColor Gray
Write-Host ""