# =============================================================================
# Drone Simulation - Windows Installation Script (PowerShell)
# =============================================================================
# Installs ROS 2 Humble, PyBullet, and all required dependencies
# Uses a Python virtual environment for pip packages
#
# Usage:
#   1. Open PowerShell as Administrator
#   2. Run: Set-ExecutionPolicy RemoteSigned -Scope CurrentUser
#   3. Run: .\install_windows.ps1
#
# Tested on: Windows 10/11
# =============================================================================

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 "       Consider running PowerShell as Administrator." -ForegroundColor Yellow
    Write-Host ""
}

# -----------------------------------------------------------------------------
# Step 1: Install Chocolatey (Package Manager)
# -----------------------------------------------------------------------------
Write-Host "[STEP 1/7] Checking Chocolatey..." -ForegroundColor Green

if (-not (Get-Command choco -ErrorAction SilentlyContinue)) {
    Write-Host "[INFO] Installing Chocolatey..." -ForegroundColor Yellow
    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 environment
    $env:Path = [System.Environment]::GetEnvironmentVariable("Path","Machine") + ";" + [System.Environment]::GetEnvironmentVariable("Path","User")
} else {
    Write-Host "[INFO] Chocolatey already installed" -ForegroundColor Green
}

# -----------------------------------------------------------------------------
# Step 2: Install Python
# -----------------------------------------------------------------------------
Write-Host ""
Write-Host "[STEP 2/7] Installing Python..." -ForegroundColor Green

if (-not (Get-Command python -ErrorAction SilentlyContinue)) {
    choco install python311 -y
    # Refresh environment
    $env:Path = [System.Environment]::GetEnvironmentVariable("Path","Machine") + ";" + [System.Environment]::GetEnvironmentVariable("Path","User")
} else {
    Write-Host "[INFO] Python already installed" -ForegroundColor Green
}

# -----------------------------------------------------------------------------
# Step 3: Install Visual C++ Build Tools
# -----------------------------------------------------------------------------
Write-Host ""
Write-Host "[STEP 3/7] Installing Visual C++ Build Tools..." -ForegroundColor Green

choco install visualstudio2022-workload-vctools -y

# -----------------------------------------------------------------------------
# Step 4: Download and Install ROS 2
# -----------------------------------------------------------------------------
Write-Host ""
Write-Host "[STEP 4/7] Installing ROS 2 Humble..." -ForegroundColor Green

$ros2Path = "C:\dev\ros2_humble"

if (-not (Test-Path $ros2Path)) {
    Write-Host "[INFO] Downloading ROS 2 Humble..." -ForegroundColor Yellow
    
    # Create installation directory
    New-Item -ItemType Directory -Force -Path "C:\dev" | Out-Null
    
    # Download ROS 2 binary
    $ros2Url = "https://github.com/ros2/ros2/releases/download/release-humble-20240523/ros2-humble-20240523-windows-release-amd64.zip"
    $ros2Zip = "$env:TEMP\ros2-humble.zip"
    
    Write-Host "[INFO] This may take a while (1-2 GB download)..." -ForegroundColor Yellow
    Invoke-WebRequest -Uri $ros2Url -OutFile $ros2Zip
    
    Write-Host "[INFO] Extracting ROS 2..." -ForegroundColor Yellow
    Expand-Archive -Path $ros2Zip -DestinationPath "C:\dev" -Force
    Remove-Item $ros2Zip
    
    Write-Host "[INFO] ROS 2 installed to $ros2Path" -ForegroundColor Green
} else {
    Write-Host "[INFO] ROS 2 already installed at $ros2Path" -ForegroundColor Green
}

# -----------------------------------------------------------------------------
# Step 5: Create Python Virtual Environment
# -----------------------------------------------------------------------------
Write-Host ""
Write-Host "[STEP 5/7] Creating Python virtual environment..." -ForegroundColor Green

# Remove existing venv if present
if (Test-Path $VenvDir) {
    Remove-Item -Recurse -Force $VenvDir
}

# Create virtual environment
python -m venv $VenvDir

Write-Host "[INFO] Virtual environment created at: $VenvDir" -ForegroundColor Green

# -----------------------------------------------------------------------------
# Step 6: Install Python Dependencies in venv
# -----------------------------------------------------------------------------
Write-Host ""
Write-Host "[STEP 6/7] Installing Python dependencies in virtual environment..." -ForegroundColor Green

# Activate venv and install packages
& "$VenvDir\Scripts\Activate.ps1"

python -m pip install --upgrade pip

$requirementsFile = Join-Path $ProjectRoot "requirements.txt"
if (Test-Path $requirementsFile) {
    pip install -r $requirementsFile
} else {
    pip install pybullet pyinstaller
}

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

# -----------------------------------------------------------------------------
# Step 7: Create Activation Script
# -----------------------------------------------------------------------------
Write-Host ""
Write-Host "[STEP 7/7] Creating activation scripts..." -ForegroundColor Green

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

echo Activating ROS 2 Humble...
call C:\dev\ros2_humble\local_setup.bat

echo Activating Python virtual environment...
call "%~dp0venv\Scripts\activate.bat"

echo.
echo [OK] Environment ready! You can now run:
echo   python simulation_host.py
echo   python ros_bridge.py
echo.
"@ | Out-File -FilePath $activateBat -Encoding ASCII

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

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

Write-Host "Activating ROS 2 Humble..." -ForegroundColor Yellow
& "C:\dev\ros2_humble\local_setup.ps1"

Write-Host "Activating Python virtual environment..." -ForegroundColor Yellow
& "`$ScriptDir\venv\Scripts\Activate.ps1"

Write-Host ""
Write-Host "[OK] Environment ready! You can now run:" -ForegroundColor Green
Write-Host "  python simulation_host.py"
Write-Host "  python ros_bridge.py"
Write-Host ""
"@ | Out-File -FilePath $activatePs1 -Encoding UTF8

Write-Host "[INFO] Created activation scripts:" -ForegroundColor Green
Write-Host "       $activateBat (for CMD)" -ForegroundColor Gray
Write-Host "       $activatePs1 (for PowerShell)" -ForegroundColor Gray

# -----------------------------------------------------------------------------
# Verification
# -----------------------------------------------------------------------------
Write-Host ""
Write-Host "==============================================" -ForegroundColor Cyan
Write-Host "  Installation Complete!" -ForegroundColor Cyan
Write-Host "==============================================" -ForegroundColor Cyan
Write-Host ""
Write-Host "Verifying installation..." -ForegroundColor Yellow
Write-Host ""

try {
    python -c "import pybullet; print('  PyBullet: OK')"
} catch {
    Write-Host "  PyBullet: FAILED" -ForegroundColor Red
}

try {
    python -c "import PyInstaller; print('  PyInstaller: OK')"
} catch {
    Write-Host "  PyInstaller: FAILED" -ForegroundColor Red
}

Write-Host ""
Write-Host "==============================================" -ForegroundColor Cyan
Write-Host "  IMPORTANT: Activate the environment first!" -ForegroundColor Cyan
Write-Host "==============================================" -ForegroundColor Cyan
Write-Host ""
Write-Host "Before running any scripts, activate the environment:" -ForegroundColor Yellow
Write-Host "  CMD:        $activateBat" -ForegroundColor White
Write-Host "  PowerShell: . $activatePs1" -ForegroundColor White
Write-Host ""
Write-Host "Then run the simulation:" -ForegroundColor Yellow
Write-Host "  python simulation_host.py" -ForegroundColor White
Write-Host ""