#!/usr/bin/env bash
set -u
export HOME=/sylph-home/re SDL_AUDIODRIVER=dummy DISPLAY=:98
export PYTHONPATH=/sylph-home/.local/lib/python3.12/site-packages
SD="$(cd "$(dirname "$0")" && pwd)"
SECS="${1:-300}"; EVERY="${2:-10}"
CFG=/tmp/nav-wave.json
"$SD/launch_mission.sh" fly || { echo "BOOT FAILED"; exit 1; }
if python3 "$SD/entities2.py" self 0x130 "$CFG" >/dev/null 2>&1; then
  nohup python3 "$SD/pilot.py" "$CFG" "$SECS" </dev/null >/tmp/wave3-pilot.log 2>&1 &
  PILOT=$!; echo "--- pilot flying"
else PILOT=""; echo "--- BIND FAILED, unattended craft"; fi
python3 "$SD/wave3_probe.py" "$SECS" "$EVERY"; rc=$?
[ -n "$PILOT" ] && kill "$PILOT" 2>/dev/null
echo "WAVE SESSION DONE rc=$rc"