#!/bin/bash
# =============================================================================
# RDC Simulation - Uninstall Script
# =============================================================================
# Removes ArduPilot SITL, Gazebo plugin, and related configurations.
# ROS 2 and Gazebo system packages are NOT removed (use apt to remove if needed).
#
# Usage: 
#   ./setup/uninstall.sh              # Interactive mode
#   ./setup/uninstall.sh --all        # Remove everything without prompts
#   ./setup/uninstall.sh --ardupilot  # Remove ArduPilot only
# =============================================================================

set -e

echo "=============================================="
echo "  RDC Simulation - Uninstall"
echo "=============================================="
echo ""

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

# Directories to remove
ARDUPILOT_HOME="$HOME/ardupilot"
ARDUPILOT_GZ="$HOME/ardupilot_gazebo"
VENV_DIR="$PROJECT_ROOT/venv"
ACTIVATE_SCRIPT="$PROJECT_ROOT/activate.sh"

# Parse arguments
REMOVE_ALL=false
REMOVE_ARDUPILOT=false
INTERACTIVE=true

for arg in "$@"; do
    case $arg in
        --all)
            REMOVE_ALL=true
            INTERACTIVE=false
            ;;
        --ardupilot)
            REMOVE_ARDUPILOT=true
            INTERACTIVE=false
            ;;
        --help|-h)
            echo "Usage: ./setup/uninstall.sh [OPTIONS]"
            echo ""
            echo "Options:"
            echo "  --all        Remove everything without prompts"
            echo "  --ardupilot  Remove ArduPilot SITL and Gazebo plugin only"
            echo "  --help       Show this help message"
            echo ""
            echo "What gets removed:"
            echo "  - ~/ardupilot (ArduPilot SITL source and build)"
            echo "  - ~/ardupilot_gazebo (ArduPilot Gazebo plugin)"
            echo "  - Project venv/ directory"
            echo "  - Project activate.sh"
            echo "  - ArduPilot configuration from ~/.bashrc"
            echo ""
            echo "What is NOT removed:"
            echo "  - ROS 2 (use: sudo apt remove 'ros-*')"
            echo "  - Gazebo (use: sudo apt remove 'gz-*')"
            echo "  - System packages"
            exit 0
            ;;
    esac
done

# Helper function to ask yes/no
ask_yes_no() {
    local prompt="$1"
    local default="${2:-n}"
    
    if [ "$default" = "y" ]; then
        prompt="$prompt [Y/n]: "
    else
        prompt="$prompt [y/N]: "
    fi
    
    read -p "$prompt" response
    response="${response:-$default}"
    
    case "$response" in
        [yY][eE][sS]|[yY]) return 0 ;;
        *) return 1 ;;
    esac
}

# =============================================================================
# REMOVE ARDUPILOT SITL
# =============================================================================
remove_ardupilot() {
    if [ -d "$ARDUPILOT_HOME" ]; then
        echo "[INFO] Removing ArduPilot SITL: $ARDUPILOT_HOME"
        rm -rf "$ARDUPILOT_HOME"
        echo "[OK] ArduPilot SITL removed"
    else
        echo "[SKIP] ArduPilot SITL not found"
    fi
}

# =============================================================================
# REMOVE ARDUPILOT GAZEBO PLUGIN
# =============================================================================
remove_ardupilot_gazebo() {
    if [ -d "$ARDUPILOT_GZ" ]; then
        echo "[INFO] Removing ArduPilot Gazebo plugin: $ARDUPILOT_GZ"
        rm -rf "$ARDUPILOT_GZ"
        echo "[OK] ArduPilot Gazebo plugin removed"
    else
        echo "[SKIP] ArduPilot Gazebo plugin not found"
    fi
}

# =============================================================================
# REMOVE PROJECT VENV
# =============================================================================
remove_venv() {
    if [ -d "$VENV_DIR" ]; then
        echo "[INFO] Removing Python virtual environment: $VENV_DIR"
        rm -rf "$VENV_DIR"
        echo "[OK] Python virtual environment removed"
    else
        echo "[SKIP] Virtual environment not found"
    fi
}

# =============================================================================
# REMOVE ACTIVATE SCRIPT
# =============================================================================
remove_activate() {
    if [ -f "$ACTIVATE_SCRIPT" ]; then
        echo "[INFO] Removing activation script: $ACTIVATE_SCRIPT"
        rm -f "$ACTIVATE_SCRIPT"
        echo "[OK] Activation script removed"
    else
        echo "[SKIP] Activation script not found"
    fi
}

# =============================================================================
# REMOVE BASHRC CONFIGURATION
# =============================================================================
remove_bashrc_config() {
    BASHRC_MARKER="# === RDC Simulation ArduPilot ==="
    OLD_MARKER="# === ArduPilot SITL ==="
    
    if grep -q "$BASHRC_MARKER" ~/.bashrc 2>/dev/null || grep -q "$OLD_MARKER" ~/.bashrc 2>/dev/null; then
        echo "[INFO] Removing ArduPilot configuration from ~/.bashrc"
        
        # Create backup
        cp ~/.bashrc ~/.bashrc.backup.$(date +%Y%m%d_%H%M%S)
        
        # Remove the configuration block (everything from marker to next blank line or EOF)
        # This handles both old and new markers
        sed -i "/$BASHRC_MARKER/,/^$/d" ~/.bashrc 2>/dev/null || true
        sed -i "/$OLD_MARKER/,/^$/d" ~/.bashrc 2>/dev/null || true
        
        echo "[OK] ArduPilot configuration removed from ~/.bashrc"
        echo "[INFO] Backup saved to ~/.bashrc.backup.*"
    else
        echo "[SKIP] No ArduPilot configuration found in ~/.bashrc"
    fi
}

# =============================================================================
# REMOVE ARDUPILOT ENV FILE
# =============================================================================
remove_ardupilot_env() {
    if [ -f "$HOME/.ardupilot_env" ]; then
        echo "[INFO] Removing ArduPilot environment file: ~/.ardupilot_env"
        rm -f "$HOME/.ardupilot_env"
        echo "[OK] ArduPilot environment file removed"
    else
        echo "[SKIP] ArduPilot environment file not found"
    fi
}

# =============================================================================
# MAIN
# =============================================================================

if [ "$REMOVE_ALL" = true ]; then
    echo "Removing all components..."
    echo ""
    remove_ardupilot
    remove_ardupilot_gazebo
    remove_venv
    remove_activate
    remove_bashrc_config
    remove_ardupilot_env
    
elif [ "$REMOVE_ARDUPILOT" = true ]; then
    echo "Removing ArduPilot components..."
    echo ""
    remove_ardupilot
    remove_ardupilot_gazebo
    remove_bashrc_config
    remove_ardupilot_env
    
else
    # Interactive mode
    echo "This will remove components installed by install_ubuntu.sh"
    echo ""
    
    if [ -d "$ARDUPILOT_HOME" ]; then
        echo "Found: $ARDUPILOT_HOME ($(du -sh "$ARDUPILOT_HOME" 2>/dev/null | cut -f1))"
    fi
    if [ -d "$ARDUPILOT_GZ" ]; then
        echo "Found: $ARDUPILOT_GZ ($(du -sh "$ARDUPILOT_GZ" 2>/dev/null | cut -f1))"
    fi
    if [ -d "$VENV_DIR" ]; then
        echo "Found: $VENV_DIR ($(du -sh "$VENV_DIR" 2>/dev/null | cut -f1))"
    fi
    echo ""
    
    if ask_yes_no "Remove ArduPilot SITL (~5GB)?"; then
        remove_ardupilot
    fi
    
    if ask_yes_no "Remove ArduPilot Gazebo plugin?"; then
        remove_ardupilot_gazebo
    fi
    
    if ask_yes_no "Remove Python virtual environment?"; then
        remove_venv
    fi
    
    if ask_yes_no "Remove activation script?"; then
        remove_activate
    fi
    
    if ask_yes_no "Remove ArduPilot configuration from ~/.bashrc?"; then
        remove_bashrc_config
        remove_ardupilot_env
    fi
fi

echo ""
echo "=============================================="
echo "  Uninstall Complete"
echo "=============================================="
echo ""
echo "Note: The following were NOT removed:"
echo "  - ROS 2 packages (sudo apt remove 'ros-*')"
echo "  - Gazebo packages (sudo apt remove 'gz-*')"
echo "  - System dependencies installed via apt"
echo ""
echo "To reinstall: ./setup/install_ubuntu.sh"
echo ""