$ErrorActionPreference = "Stop"

$root = Split-Path -Parent $MyInvocation.MyCommand.Path

Get-CimInstance Win32_Process |
    Where-Object { $_.Name -like "python*" -and ($_.CommandLine -match "main\.py" -or $_.CommandLine -match "ui_server\.py") } |
    ForEach-Object { Stop-Process -Id $_.ProcessId -Force }

New-Item -ItemType Directory -Force -Path `
    "$root\runtime-data\logs", `
    "$root\runtime-data\ui", `
    "$root\runtime-data\guidance", `
    "$root\runtime-data\autopilot", `
    "$root\runtime-data\out" | Out-Null

$env:PYTHONUNBUFFERED = "1"
$env:FPV_DATA_DIR = "$root\runtime-data"
$env:FPV_UI_PORT = "8080"
$env:FPV_UI_LOG_PATH = "$root\runtime-data\logs\main.log"
$env:FPV_UI_FRAME_PATH = "$root\runtime-data\ui\latest.jpg"
$env:FPV_UI_GUIDANCE_PATH = "$root\runtime-data\guidance\guidance_state.json"
$env:FPV_UI_OUT_DIR = "$root\runtime-data\out"

$ui = Start-Process `
    -FilePath "$root\.venv\Scripts\python.exe" `
    -ArgumentList "ui_server.py" `
    -WorkingDirectory $root `
    -RedirectStandardOutput "$root\runtime-data\logs\ui.log" `
    -RedirectStandardError "$root\runtime-data\logs\ui.err.log" `
    -WindowStyle Hidden `
    -PassThru

$env:FPV_MODEL_PATH = "$root\best.pt"
$env:FPV_SOURCE = "$root\runtime-data\input\source.mp4"
$env:FPV_SHOW_OUTPUT = "0"
$env:FPV_VIDEO_REALTIME = "1"
$env:FPV_SAVE_INFER_VIDEO = "1"
$env:FPV_OUT_VIDEO_PATH = "$root\runtime-data\out\out_infer.mp4"
$env:FPV_UI_FRAME_EXPORT_ENABLE = "1"
$env:FPV_UI_FRAME_EXPORT_PATH = "$root\runtime-data\ui\latest.jpg"
$env:FPV_UI_FRAME_EXPORT_EVERY = "1"
$env:FPV_UI_FRAME_EXPORT_JPEG_QUALITY = "80"
$env:FPV_GUIDANCE_EXPORT_ENABLE = "1"
$env:FPV_GUIDANCE_EXPORT_PATH = "$root\runtime-data\guidance\guidance_state.json"
$env:FPV_AUTOPILOT_ENABLE = "1"
$env:FPV_AUTOPILOT_BACKEND = "json"
$env:FPV_AUTOPILOT_JSON_PATH = "$root\runtime-data\autopilot\autopilot_cmd.json"

$main = Start-Process `
    -FilePath "$root\.venv\Scripts\python.exe" `
    -ArgumentList "-u", "main.py" `
    -WorkingDirectory $root `
    -RedirectStandardOutput "$root\runtime-data\logs\main.log" `
    -RedirectStandardError "$root\runtime-data\logs\main.err.log" `
    -WindowStyle Hidden `
    -PassThru

"ui_pid=$($ui.Id) main_pid=$($main.Id) url=http://localhost:8080"