#!/usr/bin/env sh
# Host-only closed-loop acceptance scenario. It verifies the actual UDP lease,
# estimator, safety, trajectory, controller, allocator, and Gazebo loop across
# ascent, cross-axis translation, descent, and terminal landing. Every terminal
# phase holds independent, noise-free Gazebo truth; that recorder cannot feed
# the controller.
set -eu

project_root=$(CDPATH= cd -- "$(dirname -- "$0")/../.." && pwd)
compose_file="$project_root/tools/sitl/compose.yaml"

python3 "$project_root/tools/sitl/world-structure-test.py"

cleanup() {
    status=$?
    trap - EXIT
    # Preserve the first failing command's result, but retain enough evidence
    # to distinguish a client/lease failure from a Gazebo or container start
    # failure in CI. `down` otherwise removes the only useful diagnostics.
    if [ "$status" -ne 0 ]; then
        echo "SITL smoke failed (exit $status); compose state and recent logs follow:" >&2
        docker compose -f "$compose_file" ps >&2 || true
        docker compose -f "$compose_file" logs --no-color --tail 250 >&2 || true
    fi
    docker compose -f "$compose_file" down --remove-orphans || true
    exit "$status"
}
trap cleanup EXIT
trap 'exit 130' INT
trap 'exit 143' TERM

docker compose -f "$compose_file" up -d --build
"$project_root/tools/sitl/kaptan-sim" ready --timeout 30
"$project_root/tools/sitl/kaptan-sim" move 0 0 1.5 --wait --verify-truth --timeout 60
"$project_root/tools/sitl/kaptan-sim" move 5 3 5 --wait --verify-truth --timeout 90
"$project_root/tools/sitl/kaptan-sim" move -4 -2 2 --wait --verify-truth --timeout 90
# Start the terminal operation while airborne and off the landing point. A
# `move ... 1` is an armed hover, not evidence of landing or zero motors.
"$project_root/tools/sitl/kaptan-sim" land 0 0 --wait --verify-truth --timeout 60