#!/bin/bash
# =============================================================================
# Drone Simulation - macOS Installation Script
# =============================================================================
# Installs PyBullet and Python dependencies (Gazebo not supported on macOS)
#
# Usage: ./install_macos.sh
# =============================================================================

set -e

echo "=============================================="
echo "  Drone Simulation - macOS Installation"
echo "=============================================="
echo ""

# Get script directory and project root
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
PROJECT_ROOT="$(dirname "$SCRIPT_DIR")"
VENV_DIR="$PROJECT_ROOT/venv"

echo "[INFO] Project root: $PROJECT_ROOT"
echo "[INFO] Virtual environment: $VENV_DIR"

# -----------------------------------------------------------------------------
# Step 1: Check Homebrew
# -----------------------------------------------------------------------------
echo ""
echo "[STEP 1/5] Checking Homebrew..."

if ! command -v brew &> /dev/null; then
    echo "[INFO] Installing Homebrew..."
    /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
else
    echo "[INFO] Homebrew already installed"
fi

# -----------------------------------------------------------------------------
# Step 2: Install Python
# -----------------------------------------------------------------------------
echo ""
echo "[STEP 2/5] Installing Python..."

if ! command -v python3 &> /dev/null; then
    brew install python@3.11
else
    echo "[INFO] Python already installed: $(python3 --version)"
fi

# -----------------------------------------------------------------------------
# Step 3: Create Virtual Environment
# -----------------------------------------------------------------------------
echo ""
echo "[STEP 3/5] Creating Python virtual environment..."

if [ -d "$VENV_DIR" ]; then
    rm -rf "$VENV_DIR"
fi

python3 -m venv "$VENV_DIR"
echo "[INFO] Virtual environment created at: $VENV_DIR"

# -----------------------------------------------------------------------------
# Step 4: Install Python Dependencies
# -----------------------------------------------------------------------------
echo ""
echo "[STEP 4/5] Installing Python dependencies..."

source "$VENV_DIR/bin/activate"
pip install --upgrade pip

if [ -f "$PROJECT_ROOT/requirements.txt" ]; then
    echo "[INFO] Installing from requirements.txt..."
    pip install -r "$PROJECT_ROOT/requirements.txt"
else
    echo "[INFO] Installing packages manually..."
    pip install pybullet numpy pillow pyinstaller
fi

echo "[INFO] Python packages installed"

# -----------------------------------------------------------------------------
# Step 5: Create Activation Script
# -----------------------------------------------------------------------------
echo ""
echo "[STEP 5/5] Creating activation script..."

cat > "$PROJECT_ROOT/activate.sh" << 'EOF'
#!/bin/bash
# Drone Simulation - Environment Activation (macOS)

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

# Activate Python venv
if [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
    source "$SCRIPT_DIR/venv/bin/activate"
    echo "[OK] Python venv activated"
fi

echo ""
echo "Environment ready!"
echo ""
echo "Note: ArduPilot SITL and Gazebo require Linux."
echo "      Use a Linux VM (UTM) or Docker for the full simulation."
echo "      See docs/installation.md for details."
echo ""
EOF

chmod +x "$PROJECT_ROOT/activate.sh"
echo "[INFO] Created: $PROJECT_ROOT/activate.sh"

# -----------------------------------------------------------------------------
# Verification
# -----------------------------------------------------------------------------
echo ""
echo "Verifying installation..."

source "$PROJECT_ROOT/activate.sh"

echo ""
echo "Checking Python packages:"
python3 -c "import pybullet; print('  PyBullet: OK')" || echo "  PyBullet: FAILED"
python3 -c "import numpy; print('  NumPy: OK')" || echo "  NumPy: FAILED"
python3 -c "from PIL import Image; print('  Pillow: OK')" || echo "  Pillow: FAILED"

echo ""
echo "=============================================="
echo "  Installation Complete!"
echo "=============================================="
echo ""
echo "Note: ArduPilot SITL and Gazebo require Linux."
echo ""
echo "For the full simulation, use a Linux VM or Docker:"
echo "  - UTM (Apple Silicon): https://mac.getutm.app"
echo "  - Docker Desktop: docker run -it ubuntu:22.04"
echo "  - Then run: ./setup/install_ubuntu.sh --with-ardupilot"
echo ""
echo "Once in Linux, run (3 terminals):"
echo ""
echo "  Terminal 1: ./scripts/run_ardupilot_sim.sh runway"
echo "  Terminal 2: sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console"
echo "  Terminal 3: python scripts/run_ardupilot.py --pattern square"
echo ""
echo "See docs/installation.md for detailed instructions."
echo ""