#!/bin/bash
# =============================================================================
# UAV-UGV Simulation - Uninstall Script
# =============================================================================
# Removes ArduPilot, ardupilot_gazebo, and project files
# Does NOT remove ROS 2 or Gazebo (system packages)
#
# Usage:
#   ./scripts/uninstall.sh           # Remove ArduPilot and plugin only
#   ./scripts/uninstall.sh --all     # Remove everything including project
# =============================================================================

set -e

RED='\033[0;31m'
GREEN='\033[0;32m'
YELLOW='\033[1;33m'
BLUE='\033[0;34m'
NC='\033[0m'

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

ARDUPILOT_HOME="$HOME/ardupilot"
ARDUPILOT_GZ="$HOME/ardupilot_gazebo"

echo -e "${BLUE}==========================================${NC}"
echo -e "${BLUE}  UAV-UGV Simulation - Uninstall${NC}"
echo -e "${BLUE}==========================================${NC}"
echo ""

# Parse arguments
REMOVE_ALL=false
FORCE=false

for arg in "$@"; do
    case $arg in
        --all)
            REMOVE_ALL=true
            ;;
        --force|-f)
            FORCE=true
            ;;
        --help)
            echo "Usage: $0 [OPTIONS]"
            echo ""
            echo "Options:"
            echo "  --all     Remove everything (ArduPilot, plugin, project, venv)"
            echo "  --force   Skip confirmation prompts"
            echo "  --help    Show this help"
            echo ""
            echo "Note: ROS 2 and Gazebo are NOT removed (use apt to remove)"
            exit 0
            ;;
    esac
done

# Confirmation
if [ "$FORCE" = false ]; then
    echo "This will remove:"
    echo "  - ArduPilot SITL ($ARDUPILOT_HOME)"
    echo "  - ardupilot_gazebo ($ARDUPILOT_GZ)"
    echo "  - Python virtual environment ($PROJECT_DIR/venv)"
    if [ "$REMOVE_ALL" = true ]; then
        echo "  - Project directory ($PROJECT_DIR)"
    fi
    echo ""
    echo "ROS 2 and Gazebo will NOT be removed."
    echo ""
    read -p "Continue? (y/N): " confirm
    if [[ ! "$confirm" =~ ^[Yy]$ ]]; then
        echo "Cancelled."
        exit 0
    fi
fi

echo ""

# Kill running processes
echo -e "${YELLOW}Stopping running processes...${NC}"
pkill -f "sim_vehicle.py" 2>/dev/null || true
pkill -f "mavproxy" 2>/dev/null || true
pkill -f "arducopter" 2>/dev/null || true
pkill -f "ardurover" 2>/dev/null || true
pkill -f "gz sim" 2>/dev/null || true
pkill -f "gzserver" 2>/dev/null || true
pkill -f "gzclient" 2>/dev/null || true
sleep 1

# Remove ArduPilot
if [ -d "$ARDUPILOT_HOME" ]; then
    echo -e "${YELLOW}Removing ArduPilot ($ARDUPILOT_HOME)...${NC}"
    rm -rf "$ARDUPILOT_HOME"
    echo -e "${GREEN}Removed ArduPilot${NC}"
else
    echo "ArduPilot not found at $ARDUPILOT_HOME"
fi

# Remove ardupilot_gazebo
if [ -d "$ARDUPILOT_GZ" ]; then
    echo -e "${YELLOW}Removing ardupilot_gazebo ($ARDUPILOT_GZ)...${NC}"
    rm -rf "$ARDUPILOT_GZ"
    echo -e "${GREEN}Removed ardupilot_gazebo${NC}"
else
    echo "ardupilot_gazebo not found at $ARDUPILOT_GZ"
fi

# Remove Python venv
if [ -d "$PROJECT_DIR/venv" ]; then
    echo -e "${YELLOW}Removing Python virtual environment...${NC}"
    rm -rf "$PROJECT_DIR/venv"
    echo -e "${GREEN}Removed venv${NC}"
fi

# Remove generated files
rm -f "$PROJECT_DIR/activate_venv.sh" 2>/dev/null || true
rm -f "$PROJECT_DIR/wsl_env.sh" 2>/dev/null || true

# Remove ArduPilot environment files
rm -f "$HOME/.ardupilot_env" 2>/dev/null || true

# Remove pip user packages
echo -e "${YELLOW}Removing user pip packages (mavproxy, pymavlink)...${NC}"
pip3 uninstall -y mavproxy pymavlink pexpect 2>/dev/null || true

# Remove project directory if --all
if [ "$REMOVE_ALL" = true ]; then
    echo -e "${YELLOW}Removing project directory ($PROJECT_DIR)...${NC}"
    cd "$HOME"
    rm -rf "$PROJECT_DIR"
    echo -e "${GREEN}Removed project directory${NC}"
fi

echo ""
echo -e "${GREEN}==========================================${NC}"
echo -e "${GREEN}  Uninstall Complete${NC}"
echo -e "${GREEN}==========================================${NC}"
echo ""
echo "Removed:"
echo "  - ArduPilot SITL"
echo "  - ardupilot_gazebo plugin"
echo "  - Python virtual environment"
if [ "$REMOVE_ALL" = true ]; then
    echo "  - Project directory"
fi
echo ""
echo "NOT removed (use apt if needed):"
echo "  - ROS 2: sudo apt remove ros-*"
echo "  - Gazebo: sudo apt remove gz-*"
echo ""