#!/bin/bash

echo "=== RESTARTING SIMULATION ==="

# 1. Kill Webots on Host

echo "Closing Webots..."

pkill -f webots-bin || pkill -f webots || echo "Webots already closed."

# 2. Restart Docker Processes (NOT Container)

echo "Stopping Simulation Processes..."

docker exec bitbots_sim pkill -f python

docker exec bitbots_sim pkill -f ros2

docker exec bitbots_sim pkill -f launching

# 3. Launch Webots (Host)

echo "Launching Webots..."

open -a /Applications/Webots.app src/bitbots_simulation/bitbots_webots_sim/worlds/match.wbt &

# 4. Launch Simulation Stack (Docker)

echo "Waiting for Webots (5s)..."

sleep 5

echo "Launching Simulation Stack (Amy Only)..."

# Use pixi run to ensure environment is active

docker exec -d bitbots_sim zsh -c "/home/bitbots/.pixi/bin/pixi run ./launch_game.sh"

echo "=== DONE ==="

echo "1. Webots should open."

echo "2. Press PLAY (Cmd+2)."

echo "3. Amy should move."