Cognitive_Agent/tools/build_seat_firmware.ps1

[CmdletBinding()]
param(
    [ValidateSet('all', 'combined', 'heater', 'fan', 'move')]
    [string]$Profile = 'combined',
    [string]$Configuration = 'rev_d',
    [string]$SdkRoot = 'C:\Users\D30042075206\Desktop\T2G_Sample_Driver_Library_7.9.0',
    [string]$RepositoryRoot = '',
    [string]$IarBuild = 'D:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\iarbuild.exe'
)

$ErrorActionPreference = 'Stop'
$resolvedSdk = (Resolve-Path -LiteralPath $SdkRoot).Path
$repositoryCandidate = if ($RepositoryRoot) {
    $RepositoryRoot
} else {
    Join-Path $PSScriptRoot '..'
}
$resolvedRepository = (Resolve-Path -LiteralPath $repositoryCandidate).Path
$resolvedIarBuild = (Resolve-Path -LiteralPath $IarBuild).Path
$projects = [ordered]@{
    combined = 'Seat_Controller_demo'
    heater = 'Seat_Backrest_Heater_demo'
    fan = 'Seat_Fan_demo'
    move = 'Seat_Move_demo'
}
$selected = if ($Profile -eq 'all') { @($projects.Keys) } else { @($Profile) }

function Invoke-IarBuild {
    param(
        [string]$ProjectName,
        [string]$ProjectPath
    )

    Write-Host "Building $ProjectName ($Configuration)..."
    & $resolvedIarBuild $ProjectPath -build $Configuration -log all
    if ($LASTEXITCODE -ne 0) {
        throw "IAR build failed for $ProjectName with exit code $LASTEXITCODE"
    }
}

function Write-ImageSummary {
    param(
        [string]$ProjectName,
        [string]$ImagePath
    )

    if (-not (Test-Path -LiteralPath $ImagePath -PathType Leaf)) {
        throw "Build completed but HEX image was not found: $ImagePath"
    }
    $hash = Get-FileHash -LiteralPath $ImagePath -Algorithm SHA256
    Write-Host "$ProjectName HEX: $ImagePath"
    Write-Host "$ProjectName SHA256: $($hash.Hash.ToLowerInvariant())"
}

foreach ($name in $selected) {
    $projectName = $projects[$name]
    if ($name -ne 'combined') {
        $project = Join-Path $resolvedSdk "$projectName\IAR\$projectName.ewp"
        if (-not (Test-Path -LiteralPath $project -PathType Leaf)) {
            throw "IAR project not found: $project"
        }
        Invoke-IarBuild -ProjectName $projectName -ProjectPath $project
        $image = Join-Path $resolvedSdk "$projectName\IAR\$Configuration\Exe\$projectName.hex"
        Write-ImageSummary -ProjectName $projectName -ImagePath $image
        continue
    }

    $repositoryFirmware = Join-Path $resolvedRepository 'firmware\t2g\Seat_Controller_demo'
    $repositoryProject = Join-Path $repositoryFirmware 'IAR\Seat_Controller_demo.ewp'
    if (-not (Test-Path -LiteralPath $repositoryProject -PathType Leaf)) {
        throw "Repository IAR project not found: $repositoryProject"
    }

    # The IAR project intentionally keeps the vendor-library relative layout.
    # Stage the repository-owned project beside junctions to the external SDK so
    # common/ and tviibh8m/ remain vendor dependencies rather than copied source.
    $temporaryParent = Join-Path $resolvedRepository '.codex_tmp'
    New-Item -ItemType Directory -Path $temporaryParent -Force | Out-Null
    $stagingRoot = Join-Path $temporaryParent ("seat-firmware-build-" + [guid]::NewGuid().ToString('N'))
    $stagingRootFull = [System.IO.Path]::GetFullPath($stagingRoot)
    $temporaryParentFull = [System.IO.Path]::GetFullPath($temporaryParent)
    if (-not $stagingRootFull.StartsWith(
        $temporaryParentFull + [System.IO.Path]::DirectorySeparatorChar,
        [System.StringComparison]::OrdinalIgnoreCase)) {
        throw "Firmware staging directory escaped repository temporary root: $stagingRootFull"
    }

    try {
        New-Item -ItemType Directory -Path $stagingRootFull | Out-Null
        $stagingProjectRoot = Join-Path $stagingRootFull 'Seat_Controller_demo'
        Copy-Item -LiteralPath $repositoryFirmware -Destination $stagingProjectRoot -Recurse
        New-Item -ItemType Junction -Path (Join-Path $stagingRootFull 'common') -Target (Join-Path $resolvedSdk 'common') | Out-Null
        New-Item -ItemType Junction -Path (Join-Path $stagingRootFull 'tviibh8m') -Target (Join-Path $resolvedSdk 'tviibh8m') | Out-Null

        $stagedProject = Join-Path $stagingProjectRoot 'IAR\Seat_Controller_demo.ewp'
        Invoke-IarBuild -ProjectName $projectName -ProjectPath $stagedProject

        $stagedExe = Join-Path $stagingProjectRoot "IAR\$Configuration\Exe"
        $repositoryExe = Join-Path $repositoryFirmware "IAR\$Configuration\Exe"
        New-Item -ItemType Directory -Path $repositoryExe -Force | Out-Null
        foreach ($artifact in @('Seat_Controller_demo.hex', 'Seat_Controller_demo.out')) {
            $sourceArtifact = Join-Path $stagedExe $artifact
            if (-not (Test-Path -LiteralPath $sourceArtifact -PathType Leaf)) {
                throw "IAR build did not produce $sourceArtifact"
            }
            Copy-Item -LiteralPath $sourceArtifact -Destination (Join-Path $repositoryExe $artifact) -Force
        }
        Write-ImageSummary -ProjectName $projectName -ImagePath (Join-Path $repositoryExe 'Seat_Controller_demo.hex')
    }
    finally {
        if (Test-Path -LiteralPath $stagingRootFull) {
            foreach ($dependencyLink in @('common', 'tviibh8m')) {
                $linkPath = Join-Path $stagingRootFull $dependencyLink
                if (Test-Path -LiteralPath $linkPath) {
                    $link = Get-Item -LiteralPath $linkPath -Force
                    if (($link.Attributes -band [System.IO.FileAttributes]::ReparsePoint) -eq 0) {
                        throw "Refusing to remove non-junction dependency path: $linkPath"
                    }
                    [System.IO.Directory]::Delete($linkPath, $false)
                }
            }
            $remainingLinks = @(
                Get-ChildItem -LiteralPath $stagingRootFull -Recurse -Force -Attributes ReparsePoint -ErrorAction SilentlyContinue
            )
            if ($remainingLinks.Count -ne 0) {
                throw "Refusing recursive cleanup because a reparse point remains in $stagingRootFull"
            }
            [System.IO.Directory]::Delete($stagingRootFull, $true)
        }
    }
}

Write-Host 'Build complete. This script never flashes or starts a physical actuator.'