[CmdletBinding()]
param(
    [Parameter(Mandatory = $true)] [string]$JobRoot,
    [Parameter(Mandatory = $true)] [string]$RunnerPath,
    [Parameter(Mandatory = $true)] [string]$ProfilePath,
    [Parameter(Mandatory = $true)] [string]$DetectorProfilePath,
    [Parameter(Mandatory = $true)] [string]$SemanticProfilePath,
    [Parameter(Mandatory = $true)] [string]$ValidFovRoot,
    [Parameter(Mandatory = $true)] [string]$LidarPackRoot,
    [ValidateRange(0, 1000000)] [int]$StartFrame = 1000,
    [ValidateRange(0, 1000000)] [int]$EndFrame = 1600,
    [ValidateRange(1, 1000)] [int]$FreeGiBFloor = 360,
    [string]$RuntimeRoot = "D:\NDC_MISSIONCORE\runtime",
    [string]$ModelRoot = "D:\NDC_MISSIONCORE\runtime\models\yolox_s",
    [string]$TritonContainer = "mission-core-triton",
    [string]$ContainerImage = "nvcr.io/nvidia/tritonserver:26.06-py3"
)

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

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

function Resolve-DDirectory([string]$Path, [string]$Label) {
    $item = Get-Item -LiteralPath (Resolve-Path -LiteralPath $Path).Path -Force
    $root = [IO.Path]::GetPathRoot($item.FullName).TrimEnd("\")
    if (-not $item.PSIsContainer -or ($item.Attributes -band [IO.FileAttributes]::ReparsePoint) -or $root -ine "D:") {
        throw "$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
    $root = [IO.Path]::GetPathRoot($item.FullName).TrimEnd("\")
    if ($item.PSIsContainer -or ($item.Attributes -band [IO.FileAttributes]::ReparsePoint) -or $root -ine "D:") {
        throw "$Label must be a regular D: file"
    }
    return $item.FullName
}

function Convert-ToDockerPath([string]$Path) { return $Path.Replace("\", "/") }
function Get-DFreeBytes { return [int64](Get-PSDrive -Name D).Free }
function Assert-FreeSpace([string]$Phase, [int64]$RequiredAdditionalBytes = 0) {
    $free = Get-DFreeBytes
    $floor = [int64]$FreeGiBFloor * 1GB
    Write-Host (
        "DISK_GUARD PHASE={0} DRIVE=D FREE_BYTES={1} FREE_GIB={2} FLOOR_GIB={3} REQUIRED_ADDITIONAL_GIB={4}" -f
        $Phase, $free, [math]::Round($free / 1GB, 3), $FreeGiBFloor,
        [math]::Round($RequiredAdditionalBytes / 1GB, 3)
    )
    if ($free -lt ($floor + $RequiredAdditionalBytes)) {
        throw "D: lacks the guarded LAB E10 reserve during $Phase"
    }
    return $free
}

function Test-TritonModelReady {
    try {
        $response = Invoke-WebRequest -UseBasicParsing -TimeoutSec 10 `
            -Uri "http://127.0.0.1:8000/v2/models/yolox_s/ready"
        return $response.StatusCode -eq 200
    }
    catch { return $false }
}

$jobDirectory = Resolve-DDirectory $JobRoot "Job root"
$runner = Resolve-DFile $RunnerPath "LAB E10 runner"
$profile = Resolve-DFile $ProfilePath "LAB E10 profile"
$detectorProfile = Resolve-DFile $DetectorProfilePath "Detector profile"
$semanticProfile = Resolve-DFile $SemanticProfilePath "Semantic profile"
$validFov = Resolve-DDirectory $ValidFovRoot "Valid-FOV root"
$lidarPack = Resolve-DDirectory $LidarPackRoot "LiDAR replay pack"
$runtime = Resolve-DDirectory $RuntimeRoot "Runtime root"
$model = Resolve-DDirectory $ModelRoot "YOLOX model root"
$runnerRoot = Split-Path $runner -Parent
foreach ($path in @($profile, $detectorProfile, $semanticProfile)) {
    if ((Split-Path $path -Parent) -ne $runnerRoot) { throw "Runner and profiles must share one mount" }
}
foreach ($dependency in @(
    "e10_fusion_runtime.py",
    "run_e9_multirate_perception.py",
    "run_e8_realtime_tracking.py",
    "run_e5_instance_tracking.py",
    "run_e4_full_session_segmentation.py",
    "run_recorded_perception_epoch.py",
    "run_e3_rectified_segmentation.py",
    "run_evaluation_prelabels.py"
)) {
    $null = Resolve-DFile (Join-Path $runnerRoot $dependency) "LAB E10 dependency"
}

$job = Get-Content -LiteralPath (Join-Path $jobDirectory "job.json") -Raw | ConvertFrom-Json
if ($job.schema_version -ne "missioncore.compute-job/v1" -or $job.job_id -ne (Split-Path $jobDirectory -Leaf)) {
    throw "Compute job manifest is incompatible"
}
$sourceId = [string]$job.input.source_id
$epoch = [int]$job.input.codec_epoch
$fullFrameCount = [int]$job.input.segment_count
$clipFrameCount = $EndFrame - $StartFrame + 1
$timelineStart = [double]$job.input.timeline.start_seconds
if ($sourceId -ne "sensor.camera.right" -or $StartFrame -lt 0 -or $EndFrame -lt $StartFrame -or $EndFrame -ge $fullFrameCount -or $clipFrameCount -lt 2) {
    throw "LAB E10 clip escapes the camera job"
}
$lidarManifest = Get-Content -LiteralPath (Join-Path $lidarPack "manifest.json") -Raw | ConvertFrom-Json
if (
    $lidarManifest.schema_version -ne "missioncore.e10-lidar-replay-pack/v1" -or
    $lidarManifest.identity.job_id -ne $job.job_id -or
    [int]$lidarManifest.identity.source_start_frame_index -ne $StartFrame -or
    [int]$lidarManifest.identity.source_end_frame_index -ne $EndFrame -or
    [int]$lidarManifest.identity.frame_count -ne $clipFrameCount
) { throw "LAB E10 LiDAR pack differs from the selected camera clip" }
Write-Output ("PHASE=inputs-validated JOB={0} CLIP={1}-{2} FRAMES={3} LIDAR_PACK={4}" -f $job.job_id, $StartFrame, $EndFrame, $clipFrameCount, $lidarManifest.pack_id)

$epochRoot = Resolve-DDirectory (Join-Path $jobDirectory ("input\camera\{0}\epoch-{1}" -f $sourceId, $epoch)) "Camera epoch"
$initPath = Resolve-DFile (Join-Path $epochRoot "init.mp4") "Camera init"
$segmentsRoot = Resolve-DDirectory (Join-Path $epochRoot "segments") "Camera segments"
$derivedRoot = Join-Path $runtime "derived"
$tmpRoot = Join-Path $runtime "tmp"
$cacheRoot = Resolve-DDirectory (Join-Path $runtime "cache\perception-e3-models-v1") "EoMT cache"
$e3Environment = Resolve-DDirectory (Join-Path $derivedRoot "perception-e3-opencv413092-v1") "E3 environment"
$torchEnvironment = Resolve-DDirectory (Join-Path $derivedRoot "perception-p0-env-v1") "Torch environment"
$transformersEnvironment = Resolve-DDirectory (Join-Path $derivedRoot "perception-p0-transformers4576-v1") "Transformers environment"

$pixelWorkingSet = [int64]$clipFrameCount * 800 * 600 * 3
$partialStreamReserve = [int64][math]::Ceiling(([int64]$job.input.byte_length * ($EndFrame + 1) / $fullFrameCount) * 1.2)
$workingSetReserve = [int64][math]::Ceiling($pixelWorkingSet * 1.4) + $partialStreamReserve + 3GB
$freeBytesBefore = Assert-FreeSpace "preflight" $workingSetReserve

& docker image inspect $ContainerImage *> $null
Assert-LastExitCode "Existing container image inspection"
$tritonState = docker inspect --format "{{.State.Running}}" $TritonContainer
Assert-LastExitCode "Triton container inspection"
if ($tritonState.Trim().ToLowerInvariant() -ne "true") { throw "LAB E10 requires the existing Triton container" }

$runnerName = Split-Path $runner -Leaf
$profileName = Split-Path $profile -Leaf
$detectorProfileName = Split-Path $detectorProfile -Leaf
$semanticProfileName = Split-Path $semanticProfile -Leaf
$lidarMount = "/" + (Split-Path $lidarPack -Leaf)
$orchestratorSha256 = (Get-FileHash -LiteralPath $PSCommandPath -Algorithm SHA256).Hash.ToLowerInvariant()
$commonMounts = @(
    "-e", "PYTHONPATH=/runner:/opt/transformers:/opt/env",
    "-e", "TORCH_HOME=/cache/torch",
    "-e", "HF_HOME=/cache/huggingface",
    "-e", "HF_HUB_OFFLINE=1",
    "-e", "TRANSFORMERS_OFFLINE=1",
    "-v", ((Convert-ToDockerPath $jobDirectory) + ":/job:ro"),
    "-v", ((Convert-ToDockerPath $validFov) + ":/valid-fov:ro"),
    "-v", ((Convert-ToDockerPath $lidarPack) + (":{0}:ro" -f $lidarMount)),
    "-v", ((Convert-ToDockerPath $model) + ":/model:ro"),
    "-v", ((Convert-ToDockerPath $cacheRoot) + ":/cache:ro"),
    "-v", ((Convert-ToDockerPath $e3Environment) + ":/environment:ro"),
    "-v", ((Convert-ToDockerPath $torchEnvironment) + ":/opt/env:ro"),
    "-v", ((Convert-ToDockerPath $transformersEnvironment) + ":/opt/transformers:ro"),
    "-v", ((Convert-ToDockerPath $runnerRoot) + ":/runner:ro")
)
$commonRunnerArgs = @(
    "--job", "/job",
    "--profile", ("/runner/{0}" -f $profileName),
    "--detector-profile", ("/runner/{0}" -f $detectorProfileName),
    "--semantic-profile", ("/runner/{0}" -f $semanticProfileName),
    "--valid-fov-root", "/valid-fov",
    "--model-root", "/model",
    "--cache", "/cache",
    "--environment", "/environment",
    "--lidar-pack", $lidarMount
)
$preflightArgs = @(
    "run", "--rm", "--gpus", "all", "--network", "none", "--read-only",
    "--security-opt", "no-new-privileges:true", "--cap-drop", "ALL",
    "--pids-limit", "512", "--shm-size", "4g",
    "--tmpfs", "/tmp:rw,noexec,nosuid,size=2g"
) + $commonMounts + @(
    "--entrypoint", "python3", $ContainerImage,
    ("/runner/{0}" -f $runnerName), "preflight"
) + $commonRunnerArgs
Write-Output "PHASE=e10-preflight-start"
& docker @preflightArgs
Assert-LastExitCode "LAB E10 preflight"
Write-Output "PHASE=e10-preflight-complete"

$modelWasReady = Test-TritonModelReady
$loadedByRun = $false
if (-not $modelWasReady) {
    Invoke-WebRequest -UseBasicParsing -TimeoutSec 60 -Uri "http://127.0.0.1:8000/v2/repository/models/yolox_s/load" -Method Post -ContentType "application/json" -Body "{}" *> $null
    $loadedByRun = $true
    $deadline = [DateTime]::UtcNow.AddSeconds(60)
    while (-not (Test-TritonModelReady)) {
        if ([DateTime]::UtcNow -ge $deadline) { throw "YOLOX-S did not become ready" }
        Start-Sleep -Milliseconds 500
    }
}
Write-Output ("PHASE=e10-model-ready LOADED_BY_RUN={0}" -f $loadedByRun)

$token = [Guid]::NewGuid().ToString("N")
$workRoot = Join-Path $tmpRoot ("{0}-e10-{1}" -f $job.job_id, $token)
$framesRoot = Join-Path $workRoot "frames"
$streamPath = Join-Path $workRoot "camera.mp4"
$ptsPath = Join-Path $workRoot "pts.json"
$timelinePath = Join-Path $workRoot "timeline.jsonl"
$publishRoot = Join-Path $derivedRoot (".{0}-e10-{1}.publish" -f $job.job_id, $token)
$stagingRoot = Join-Path $publishRoot "output"
$null = New-Item -ItemType Directory -Path $framesRoot
$null = New-Item -ItemType Directory -Path $publishRoot
$completed = $false
$totalWatch = [Diagnostics.Stopwatch]::StartNew()

try {
    $stream = [IO.File]::Open($streamPath, [IO.FileMode]::CreateNew, [IO.FileAccess]::Write, [IO.FileShare]::None)
    try {
        $input = [IO.File]::OpenRead($initPath)
        try { $input.CopyTo($stream) } finally { $input.Dispose() }
        for ($sequence = 1; $sequence -le ($EndFrame + 1); $sequence++) {
            $path = Resolve-DFile (Join-Path $segmentsRoot ("{0}.m4s" -f $sequence)) "Camera segment"
            $input = [IO.File]::OpenRead($path)
            try { $input.CopyTo($stream) } finally { $input.Dispose() }
        }
        $stream.Flush($true)
    }
    finally { $stream.Dispose() }
    $null = Assert-FreeSpace "post-stream-reconstruction"

    $extractWatch = [Diagnostics.Stopwatch]::StartNew()
    $selectFilter = "select='between(n,{0},{1})'" -f $StartFrame, $EndFrame
    & ffmpeg -hide_banner -loglevel fatal -i $streamPath -map 0:v:0 -vf $selectFilter -fps_mode passthrough (Join-Path $framesRoot "frame-%06d.png")
    Assert-LastExitCode "LAB E10 camera extraction"
    & ffprobe -v error -select_streams v:0 -show_entries frame=best_effort_timestamp_time -of json $streamPath | Set-Content -LiteralPath $ptsPath -Encoding utf8
    Assert-LastExitCode "LAB E10 timestamp probe"
    $decoded = @(Get-ChildItem -LiteralPath $framesRoot -File -Filter "frame-*.png")
    $pts = @((Get-Content -LiteralPath $ptsPath -Raw | ConvertFrom-Json).frames)
    if ($decoded.Count -ne $clipFrameCount -or $pts.Count -ne ($EndFrame + 1)) { throw "LAB E10 decoded frame count changed" }
    $firstEpochSeconds = [double]::Parse(([string]$pts[0].best_effort_timestamp_time).Trim(), [Globalization.CultureInfo]::InvariantCulture)
    $writer = [IO.StreamWriter]::new($timelinePath, $false, [Text.UTF8Encoding]::new($false))
    try {
        for ($local = 0; $local -lt $clipFrameCount; $local++) {
            $source = $StartFrame + $local
            $epochSeconds = [double]::Parse(([string]$pts[$source].best_effort_timestamp_time).Trim(), [Globalization.CultureInfo]::InvariantCulture) - $firstEpochSeconds
            $row = [ordered]@{
                frame_index = $local
                sequence = $local + 1
                source_frame_index = $source
                source_sequence = $source + 1
                epoch_seconds = $epochSeconds
                session_seconds = $timelineStart + $epochSeconds
            }
            $writer.WriteLine(($row | ConvertTo-Json -Compress))
        }
        $writer.Flush()
    }
    finally { $writer.Dispose() }
    $extractWatch.Stop()
    $freePostExtract = Assert-FreeSpace "post-frame-extraction"

    $runArgs = @(
        "run", "--rm", "--gpus", "all", "--network", ("container:{0}" -f $TritonContainer),
        "--read-only", "--security-opt", "no-new-privileges:true", "--cap-drop", "ALL",
        "--pids-limit", "512", "--shm-size", "4g",
        "--tmpfs", "/tmp:rw,noexec,nosuid,size=2g"
    ) + $commonMounts + @(
        "-v", ((Convert-ToDockerPath $framesRoot) + ":/frames:ro"),
        "-v", ((Convert-ToDockerPath $workRoot) + ":/work:ro"),
        "-v", ((Convert-ToDockerPath $publishRoot) + ":/publish:rw"),
        "--entrypoint", "python3", $ContainerImage,
        ("/runner/{0}" -f $runnerName), "run"
    ) + $commonRunnerArgs + @(
        "--frames", "/frames",
        "--timeline", "/work/timeline.jsonl",
        "--output", "/publish/output",
        "--triton-url", "http://127.0.0.1:8000",
        "--free-bytes-floor", [string]([int64]$FreeGiBFloor * 1GB),
        "--orchestrator-sha256", $orchestratorSha256,
        "--container-image", $ContainerImage
    )
    Write-Output ("PHASE=e10-integrated-replay-start FRAMES={0}" -f $clipFrameCount)
    & docker @runArgs
    Assert-LastExitCode "LAB E10 integrated replay"
    $freePostReplay = Assert-FreeSpace "post-replay"

    $result = Get-Content -LiteralPath (Join-Path $stagingRoot "result.json") -Raw | ConvertFrom-Json
    if ($result.schema_version -ne "missioncore.e10-integrated-perception-result/v1" -or $result.result_id -notmatch "^e10-integrated-perception-[a-f0-9]{64}$") {
        throw "LAB E10 result manifest is incompatible"
    }
    $finalRoot = Join-Path $derivedRoot ([string]$result.result_id)
    if (Test-Path -LiteralPath $finalRoot) { throw "Immutable LAB E10 result already exists" }
    Move-Item -LiteralPath $stagingRoot -Destination $finalRoot
    Remove-Item -LiteralPath $publishRoot -Force
    $completed = $true
    $totalWatch.Stop()
    $freeFinal = Assert-FreeSpace "post-publication"
    Write-Output ("RESULT_ROOT={0}" -f $finalRoot)
    Write-Output ("RESULT_ID={0}" -f $result.result_id)
    Write-Output ("ACCEPTANCE_STATE={0}" -f $result.acceptance_state)
    Write-Output ("PREPARATION_SECONDS={0}" -f $extractWatch.Elapsed.TotalSeconds)
    Write-Output ("ORCHESTRATOR_WALL_SECONDS={0}" -f $totalWatch.Elapsed.TotalSeconds)
    Write-Output ("DISK_FREE_BYTES_BEFORE={0}" -f $freeBytesBefore)
    Write-Output ("DISK_FREE_BYTES_POST_EXTRACT={0}" -f $freePostExtract)
    Write-Output ("DISK_FREE_BYTES_POST_REPLAY={0}" -f $freePostReplay)
    Write-Output ("DISK_FREE_BYTES_FINAL={0}" -f $freeFinal)
}
finally {
    if (Test-Path -LiteralPath $workRoot) { Remove-Item -LiteralPath $workRoot -Recurse -Force }
    if (-not $completed -and (Test-Path -LiteralPath $publishRoot)) { Remove-Item -LiteralPath $publishRoot -Recurse -Force }
    if ($loadedByRun) {
        try {
            Invoke-WebRequest -UseBasicParsing -TimeoutSec 60 -Uri "http://127.0.0.1:8000/v2/repository/models/yolox_s/unload" -Method Post -ContentType "application/json" -Body "{}" *> $null
            Write-Output "PHASE=e10-model-state-restored"
        }
        catch { Write-Warning "LAB E10 could not restore the prior YOLOX-S state" }
    }
}