param(
    [string[]]$Routes = @(),
    [string]$RouteListPath = "",
    [string[]]$SimulationMaps = @("yandex"),
    [string[]]$InterframeMethods = @("optical-flow", "orb", "akaze", "sift", "brisk"),
    [string[]]$LandmarkMethods = @("orb", "akaze", "sift", "brisk"),
    [double[]]$RefMinDistances = @(100),
    [switch]$UseSianSimilarity,
    [switch]$UseGan,
    [switch]$DryRun
)

$ErrorActionPreference = "Stop"

$ProjectRoot = Split-Path -Parent $MyInvocation.MyCommand.Path
Set-Location $ProjectRoot

function Expand-List {
    param([string[]]$Values)

    $Expanded = @()
    foreach ($Value in $Values) {
        $Expanded += $Value -split "," | ForEach-Object { $_.Trim() } | Where-Object { $_ }
    }
    return $Expanded
}

$Routes = Expand-List $Routes
$SimulationMaps = Expand-List $SimulationMaps
$InterframeMethods = Expand-List $InterframeMethods
$LandmarkMethods = Expand-List $LandmarkMethods

if ($RouteListPath) {
    if (-not (Test-Path $RouteListPath)) {
        throw "Файл со списком маршрутов не найден: $RouteListPath"
    }

    $RoutesFromFile = Get-Content -Path $RouteListPath |
        ForEach-Object { ($_ -split "#")[0].Trim() } |
        Where-Object { $_ }

    $Routes += $RoutesFromFile
    $Routes = $Routes | Select-Object -Unique
}

if ($Routes.Count -eq 0) {
    $Routes = Get-ChildItem -Path "trajectories" -Directory |
        Where-Object { Test-Path (Join-Path $_.FullName "positions.pkl") } |
        Sort-Object Name |
        Select-Object -ExpandProperty Name
}

if ($Routes.Count -eq 0) {
    throw "Не найдено маршрутов в trajectories. Сначала выполните build хотя бы для одного маршрута."
}

$Python = Join-Path $ProjectRoot ".venv\Scripts\python.exe"
if (-not (Test-Path $Python)) {
    $Python = "python"
}

$Total = $Routes.Count * $SimulationMaps.Count * $InterframeMethods.Count * $LandmarkMethods.Count * $RefMinDistances.Count
$RunIndex = 0

Write-Host "Batch run started"
Write-Host "Routes: $($Routes -join ', ')"
Write-Host "Total runs: $Total"

foreach ($Route in $Routes) {
    foreach ($SimulationMap in $SimulationMaps) {
        foreach ($RefMinDistance in $RefMinDistances) {
            foreach ($InterframeMethod in $InterframeMethods) {
                foreach ($LandmarkMethod in $LandmarkMethods) {
                    $RunIndex += 1
                    $Args = @(
                        "main.py",
                        "--mode", "run",
                        "--name", $Route,
                        "--simulation", $SimulationMap,
                        "--ref-min-distance", "$RefMinDistance",
                        "--interframe-method", $InterframeMethod,
                        "--landmark-method", $LandmarkMethod
                    )

                    if ($UseSianSimilarity) {
                        $Args += "--use-sian-similarity"
                    }
                    if ($UseGan) {
                        $Args += "--use-gan"
                    }

                    Write-Host ""
                    Write-Host "[$RunIndex/$Total] route=$Route simulation=$SimulationMap ref=$RefMinDistance interframe=$InterframeMethod landmark=$LandmarkMethod"
                    Write-Host "$Python $($Args -join ' ')"

                    if (-not $DryRun) {
                        & $Python @Args
                        if ($LASTEXITCODE -ne 0) {
                            throw "Run failed with exit code $LASTEXITCODE"
                        }
                    }
                }
            }
        }
    }
}

Write-Host ""
Write-Host "Batch run finished. Results are saved by main.py into test_runs."