[CmdletBinding()]
param(
    [Parameter(Mandatory = $true)]
    [string]$ReleaseRoot,
    [Parameter(Mandatory = $true)]
    [ValidatePattern("^[A-Za-z0-9._-]{1,96}$")]
    [string]$RunId,
    [string]$SourcePackPath = "D:\NDC_MISSIONCORE\runtime\derived\e10-lidar-pack-576c994a6c814e2592dd6240ace3902a5db94843312c759a73ba0c9166157d2b\lidar-pack.npz",
    [string]$OutputRoot = "D:\NDC_MISSIONCORE\runtime\results\m49-t3-travel-ravnoves"
)

$ErrorActionPreference = "Stop"
$ProgressPreference = "SilentlyContinue"

$TravelImageTag = "ndc/mission-core-m49-t3-travel:20260826"
$TravelImageId = "sha256:7b412020f4d8392d1d1ed1b33beadc44140f0ea8f781e62dd69796042334300f"
$ParityImageTag = "ndc-mission-core-m48t-upstream-parity:1.9.4-cu130"
$ParityImageId = "sha256:ceb13548617e4bd3f619766bfdff00af3fa5160946b367828da6d2233dcdcba0"

function Assert-LastExitCode([string]$Operation) {
    if ($LASTEXITCODE -ne 0) { throw "$Operation failed with exit code $LASTEXITCODE" }
}

function Resolve-DDirectory([string]$Path, [string]$Label, [bool]$Create) {
    if ($Create -and -not (Test-Path -LiteralPath $Path)) {
        $null = New-Item -ItemType Directory -Path $Path
    }
    $item = Get-Item -LiteralPath (Resolve-Path -LiteralPath $Path).Path -Force
    if (
        -not $item.PSIsContainer -or
        ($item.Attributes -band [IO.FileAttributes]::ReparsePoint) -or
        [IO.Path]::GetPathRoot($item.FullName).TrimEnd("\") -ine "D:"
    ) {
        throw "$Label must be a real D: directory"
    }
    return $item.FullName
}

function Resolve-DFile([string]$Path, [string]$Label) {
    $item = Get-Item -LiteralPath (Resolve-Path -LiteralPath $Path).Path -Force
    if (
        $item.PSIsContainer -or
        ($item.Attributes -band [IO.FileAttributes]::ReparsePoint) -or
        [IO.Path]::GetPathRoot($item.FullName).TrimEnd("\") -ine "D:"
    ) {
        throw "$Label must be a real D: file"
    }
    return $item.FullName
}

function Convert-ToDockerPath([string]$Path) {
    return ($Path -replace "\\", "/")
}

function Get-Container([string]$Name) {
    $rows = @(((& docker inspect $Name) | ConvertFrom-Json))
    Assert-LastExitCode "Docker inspection for $Name"
    if ($rows.Count -ne 1) { throw "Container identity for $Name is not unique" }
    return $rows[0]
}

function Assert-Image([string]$Tag, [string]$ExpectedId) {
    $rows = @(((& docker image inspect $Tag) | ConvertFrom-Json))
    Assert-LastExitCode "Docker image inspection for $Tag"
    if ($rows.Count -ne 1 -or [string]$rows[0].Id -cne $ExpectedId) {
        throw "Pinned image identity changed for $Tag"
    }
}

function Remove-ExactContainer([string]$Name) {
    if (& docker ps -a --format "{{.Names}}" --filter "name=^/$Name$") {
        & docker rm --force $Name *> $null
    }
}

if ($env:COMPUTERNAME -cne "DESKTOP-OPJ8J04") {
    throw "M49 T3 RAVNOVES probe is pinned to Worker 006"
}

$release = Resolve-DDirectory $ReleaseRoot "M49 T3 probe release" $false
$payload = Resolve-DDirectory (Join-Path $release "payload") "M49 T3 probe payload" $false
$sourcePack = Resolve-DFile $SourcePackPath "RAVNOVES00 source pack"
$output = Resolve-DDirectory $OutputRoot "M49 T3 probe output root" $true
$runOutputCandidate = Join-Path $output $RunId
if (Test-Path -LiteralPath $runOutputCandidate) { throw "M49 T3 probe output already exists" }
$null = New-Item -ItemType Directory -Path $runOutputCandidate
$runOutput = Resolve-DDirectory $runOutputCandidate "M49 T3 probe run output" $false

$releaseDocument = Get-Content -LiteralPath (Join-Path $payload "release.json") -Raw | ConvertFrom-Json
if (
    $releaseDocument.schema_version -cne "missioncore.m49-t3-ravnoves-worker-release/v1" -or
    $releaseDocument.worker_id -cne "worker-006" -or
    $releaseDocument.candidate_id -cne "travel"
) {
    throw "M49 T3 probe release contract changed"
}
foreach ($property in $releaseDocument.files.PSObject.Properties) {
    $path = Join-Path $payload $property.Name
    $actual = (Get-FileHash -Algorithm SHA256 -LiteralPath $path).Hash.ToLowerInvariant()
    if ($actual -cne [string]$property.Value.sha256) {
        throw "M49 T3 probe payload digest changed: $($property.Name)"
    }
}
$sourcePackSha = (Get-FileHash -Algorithm SHA256 -LiteralPath $sourcePack).Hash.ToLowerInvariant()
if ($sourcePackSha -cne "0685d24219d8236caf8b7f1685e93f6d6b59e7fd015a768d88a92bbe8b154944") {
    throw "RAVNOVES00 source pack digest changed"
}

$os = Get-CimInstance Win32_OperatingSystem
$freeMemoryGiB = [double]$os.FreePhysicalMemory / 1MB
if ($freeMemoryGiB -lt 16.0) {
    throw ("M49 T3 probe requires 16 GiB free memory; observed {0:N2} GiB" -f $freeMemoryGiB)
}
$canonicalTritonBefore = Get-Container "ndc-mission-core-triton"
if (
    -not $canonicalTritonBefore.State.Running -or
    $canonicalTritonBefore.State.Health.Status -cne "healthy"
) {
    throw "Canonical Mission Core Triton must remain healthy during M49 T3 probe"
}
Assert-Image $TravelImageTag $TravelImageId
Assert-Image $ParityImageTag $ParityImageId

$prepareName = "ndc-mission-core-m49-t3-prepare-$RunId"
$travelName = "ndc-mission-core-m49-t3-probe-$RunId"
$analyzeName = "ndc-mission-core-m49-t3-analyze-$RunId"
foreach ($name in @($prepareName, $travelName, $analyzeName)) {
    if (& docker ps -a --format "{{.Names}}" --filter "name=^/$name$") {
        throw "M49 T3 probe container name already exists: $name"
    }
}

$started = [DateTimeOffset]::UtcNow
try {
    & docker run --rm --name $prepareName --network none --cpus 8 --memory 16g `
        --entrypoint python3 `
        --volume ((Convert-ToDockerPath $sourcePack) + ":/source/lidar-pack.npz:ro") `
        --volume ((Convert-ToDockerPath $payload) + ":/release:ro") `
        --volume ((Convert-ToDockerPath $runOutput) + ":/probe") `
        $ParityImageTag /release/prepare_ravnoves_probe.py `
        --source-pack /source/lidar-pack.npz `
        --config /release/m49-travel-ravnoves-compatibility-v1.json `
        --output-root /probe/inputs
    Assert-LastExitCode "M49 T3 RAVNOVES input preparation"

    & docker run --rm --name $travelName --network none --cpus 16 --memory 24g `
        --entrypoint /bin/bash `
        --volume ((Convert-ToDockerPath $payload) + ":/release:ro") `
        --volume ((Convert-ToDockerPath $runOutput) + ":/probe") `
        $TravelImageTag /release/run_ravnoves_probe.sh
    Assert-LastExitCode "M49 T3 RAVNOVES TRAVEL probe"

    & docker run --rm --name $analyzeName --network none --cpus 8 --memory 16g `
        --entrypoint python3 `
        --volume ((Convert-ToDockerPath $payload) + ":/release:ro") `
        --volume ((Convert-ToDockerPath $runOutput) + ":/probe") `
        $ParityImageTag /release/analyze_ravnoves_probe.py `
        --probe-root /probe `
        --config /release/m49-travel-ravnoves-compatibility-v1.json
    Assert-LastExitCode "M49 T3 RAVNOVES result analysis"
} finally {
    foreach ($name in @($prepareName, $travelName, $analyzeName)) {
        Remove-ExactContainer $name
    }
}
$completed = [DateTimeOffset]::UtcNow

$resultPath = Join-Path $runOutput "result.json"
if (-not (Test-Path -LiteralPath $resultPath -PathType Leaf)) {
    throw "M49 T3 RAVNOVES result.json is missing"
}
$result = Get-Content -LiteralPath $resultPath -Raw | ConvertFrom-Json
if ($result.status -cne "passed") { throw "M49 T3 RAVNOVES probe did not complete" }
$canonicalTritonAfter = Get-Container "ndc-mission-core-triton"
if (
    -not $canonicalTritonAfter.State.Running -or
    $canonicalTritonAfter.State.Health.Status -cne "healthy" -or
    [string]$canonicalTritonAfter.Id -cne [string]$canonicalTritonBefore.Id
) {
    throw "Canonical Mission Core Triton changed during M49 T3 probe"
}

$summary = [ordered]@{
    schema_version = "missioncore.m49-t3-ravnoves-worker-summary/v1"
    worker_id = "worker-006"
    run_id = $RunId
    code_revision = [string]$releaseDocument.code_revision
    travel_image_id = $TravelImageId
    parity_image_id = $ParityImageId
    source_pack_sha256 = $sourcePackSha
    started_utc = $started.ToString("o")
    wall_seconds = [math]::Round(($completed - $started).TotalSeconds, 6)
    free_memory_gib_before = [math]::Round($freeMemoryGiB, 6)
    canonical_triton_id = [string]$canonicalTritonAfter.Id
    canonical_triton_health = [string]$canonicalTritonAfter.State.Health.Status
    candidate_run_count = [int]$result.candidate_run_count
    direct_upstream_profile_compatible = [bool]$result.summary.direct_upstream_profile_compatible
    ravnoves00_visual_quality_accepted = $false
    realtime_accepted = $false
    navigation_or_actuation_allowed = $false
}
$summary | ConvertTo-Json -Depth 3 | Set-Content -LiteralPath (
    Join-Path $runOutput "worker-summary.json"
) -Encoding utf8
$summary | ConvertTo-Json -Depth 3