#!/bin/bash
# =============================================================================
# Drone Simulation - macOS Installation Script
# =============================================================================
# Installs ROS 2 Humble via robostack (conda), PyBullet, and dependencies
# Uses a conda environment for all packages
#
# Usage:
#   chmod +x install_macos.sh
#   ./install_macos.sh
#
# Tested on: macOS Ventura, Sonoma (Apple Silicon & Intel)
# =============================================================================

set -e  # Exit on error

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

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

echo "[INFO] Project root: $PROJECT_ROOT"

# Detect architecture
ARCH=$(uname -m)
echo "[INFO] Detected architecture: $ARCH"

# -----------------------------------------------------------------------------
# Step 1: Install Homebrew (if not present)
# -----------------------------------------------------------------------------
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)"
    
    # Add Homebrew to PATH for Apple Silicon
    if [[ "$ARCH" == "arm64" ]]; then
        echo 'eval "$(/opt/homebrew/bin/brew shellenv)"' >> ~/.zprofile
        eval "$(/opt/homebrew/bin/brew shellenv)"
    fi
else
    echo "[INFO] Homebrew already installed"
fi

# Update Homebrew
brew update

# -----------------------------------------------------------------------------
# Step 2: Install Miniforge (conda)
# -----------------------------------------------------------------------------
echo ""
echo "[STEP 2/5] Installing Miniforge (conda)..."

if ! command -v conda &> /dev/null; then
    echo "[INFO] Downloading Miniforge..."
    if [[ "$ARCH" == "arm64" ]]; then
        curl -L -O "https://github.com/conda-forge/miniforge/releases/latest/download/Miniforge3-MacOSX-arm64.sh"
        bash Miniforge3-MacOSX-arm64.sh -b -p $HOME/miniforge3
        rm Miniforge3-MacOSX-arm64.sh
    else
        curl -L -O "https://github.com/conda-forge/miniforge/releases/latest/download/Miniforge3-MacOSX-x86_64.sh"
        bash Miniforge3-MacOSX-x86_64.sh -b -p $HOME/miniforge3
        rm Miniforge3-MacOSX-x86_64.sh
    fi
    
    # Initialize conda
    $HOME/miniforge3/bin/conda init zsh bash
    
    # Source conda for this session
    source $HOME/miniforge3/etc/profile.d/conda.sh
else
    echo "[INFO] Conda already installed"
    # Ensure conda is available in this session
    source $(conda info --base)/etc/profile.d/conda.sh
fi

# -----------------------------------------------------------------------------
# Step 3: Create conda environment with ROS 2
# -----------------------------------------------------------------------------
echo ""
echo "[STEP 3/5] Creating conda environment with ROS 2..."

# Remove existing environment if present
conda deactivate 2>/dev/null || true
conda env remove -n $ENV_NAME 2>/dev/null || true

# Create new environment
conda create -n $ENV_NAME python=3.11 -y

# Activate environment
conda activate $ENV_NAME

# Add robostack channels
conda config --env --add channels conda-forge
conda config --env --add channels robostack-staging

echo "[INFO] Installing ROS 2 Humble via robostack (this may take a while)..."
conda install ros-humble-desktop ros-humble-geometry-msgs ros-humble-std-msgs -y

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

pip install pybullet pyinstaller

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

ACTIVATE_SCRIPT="$PROJECT_ROOT/activate.sh"
cat > "$ACTIVATE_SCRIPT" << 'EOF'
#!/bin/bash
# =============================================================================
# Drone Competition - Environment Activation Script (macOS)
# =============================================================================
# This script activates the conda environment with ROS 2.
#
# Usage:
#   source activate.sh
# =============================================================================

# Get the directory where this script is located
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"

# Initialize conda
if [ -f "$HOME/miniforge3/etc/profile.d/conda.sh" ]; then
    source "$HOME/miniforge3/etc/profile.d/conda.sh"
elif [ -f "$(conda info --base)/etc/profile.d/conda.sh" ]; then
    source "$(conda info --base)/etc/profile.d/conda.sh"
fi

# Activate conda environment
conda activate drone_competition
echo "[OK] Conda environment 'drone_competition' activated"

echo ""
echo "Environment ready! You can now run:"
echo "  python simulation_host.py"
echo "  python ros_bridge.py"
echo ""
EOF

chmod +x "$ACTIVATE_SCRIPT"
echo "[INFO] Created activation script: $ACTIVATE_SCRIPT"

# -----------------------------------------------------------------------------
# Verification
# -----------------------------------------------------------------------------
echo ""
echo "=============================================="
echo "  Installation Complete!"
echo "=============================================="
echo ""
echo "Verifying installation..."
echo ""

echo -n "  ROS 2: "
ros2 --version 2>/dev/null && echo "" || echo "FAILED"

echo -n "  PyBullet: "
python3 -c "import pybullet; print('OK')" 2>/dev/null || echo "FAILED"

echo -n "  rclpy: "
python3 -c "import rclpy; print('OK')" 2>/dev/null || echo "FAILED"

echo -n "  PyInstaller: "
python3 -c "import PyInstaller; print('OK')" 2>/dev/null || echo "FAILED"

echo ""
echo "=============================================="
echo "  IMPORTANT: Activate the environment first!"
echo "=============================================="
echo ""
echo "Before running any scripts, activate the environment:"
echo "  source $ACTIVATE_SCRIPT"
echo ""
echo "Then run the simulation:"
echo "  python simulation_host.py"
echo ""