#!/bin/bash
# UAV-UGV Simulation - Environment Activation
# Usage: source activate_venv.sh

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

# ROS 2 Setup
if [ -f "/opt/ros/jazzy/setup.bash" ]; then
    source /opt/ros/jazzy/setup.bash
    ROS_VER="jazzy"
elif [ -f "/opt/ros/humble/setup.bash" ]; then
    source /opt/ros/humble/setup.bash
    ROS_VER="humble"
else
    echo "[WARN] ROS 2 not found in /opt/ros/"
    ROS_VER="none"
fi

# ArduPilot Environment
export ARDUPILOT_HOME="$HOME/ardupilot"
export PATH="$ARDUPILOT_HOME/Tools/autotest:$PATH"
export PATH="$HOME/.local/bin:$PATH"

# Deactivate existing venv
if [ -n "$VIRTUAL_ENV" ]; then
    deactivate 2>/dev/null || true
fi

# Activate project venv
if [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
    source "$SCRIPT_DIR/venv/bin/activate"
fi

# Gazebo paths (new Gazebo - Ignition/Harmonic)
export GZ_SIM_RESOURCE_PATH="$SCRIPT_DIR/models:$SCRIPT_DIR/worlds:${GZ_SIM_RESOURCE_PATH:-}"

# ArduPilot Gazebo plugin
if [ -d "$HOME/ardupilot_gazebo/build" ]; then
    export GZ_SIM_SYSTEM_PLUGIN_PATH="$HOME/ardupilot_gazebo/build:${GZ_SIM_SYSTEM_PLUGIN_PATH:-}"
    export GZ_SIM_RESOURCE_PATH="$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH"
fi

# WSL environment
if grep -qEi "(microsoft|wsl)" /proc/version 2>/dev/null; then
    if [ -d "/mnt/wslg" ]; then
        export DISPLAY=:0
    else
        export DISPLAY=$(cat /etc/resolv.conf 2>/dev/null | grep nameserver | awk '{print $2}'):0
    fi
    export LIBGL_ALWAYS_INDIRECT=0
    export MESA_GL_VERSION_OVERRIDE=3.3
fi

echo -e "\033[0;32mEnvironment activated (ROS 2 $ROS_VER)\033[0m"
echo ""
echo "Run simulation:  bash scripts/run_simulation.sh"