param([string]$Root = 'D:\NDC_MISSIONCORE\runtime\simulation')
$ErrorActionPreference = 'Continue'
$base = 'sha256:7693c28fac83df9e9e6ac6d89ffec81470f660cb8b30fc78fa88be228329dc0b'
$baseTag = 'ndc-ai-polygon-cmu:upstream-158e67b'
$tag = 'ndc-ai-polygon-cmu:rectangle-v3'
$actual = docker image inspect $base --format '{{.Id}}'
if ($LASTEXITCODE -ne 0 -or $actual.Trim() -ne $base) { throw 'Prepare the pinned upstream CMU image first' }
docker tag $base $baseTag
if ($LASTEXITCODE -ne 0) { throw 'Unable to identify the local CMU build base' }
docker build --build-arg "CMU_BASE=$baseTag" -f (Join-Path $PSScriptRoot 'Dockerfile.footprint') -t $tag $PSScriptRoot
if ($LASTEXITCODE -ne 0) { throw 'Rectangular candidate filter build failed' }
$image = docker image inspect $tag --format '{{.Id}}'
if ($LASTEXITCODE -ne 0) { throw 'Built navigation image unavailable' }
$value = @{
    schema_version = 'missioncore.ai-polygon-navigation-install/v1'
    upstream_commit = '158e67b31b644ed1e8b06eb1d7f70e183cc62591'
    base_image = $base
    image = $image.Trim()
    adapter = 'rectangular-primitive-filter-v3'
    adapter_sha256 = (Get-FileHash (Join-Path $PSScriptRoot 'missioncore_footprint.hpp') -Algorithm SHA256).Hash.ToLower()
    installed_at = [DateTime]::UtcNow.ToString('o')
}
[IO.File]::WriteAllText((Join-Path $Root 'assets\cmu-navigation-rectangle-v3.json'), ($value | ConvertTo-Json), [Text.UTF8Encoding]::new($false))
$value | ConvertTo-Json -Compress