param(
    [Parameter(Mandatory = $true)][string]$DataRoot,
    [Parameter(Mandatory = $true)][string]$OutputRoot,
    [Parameter(Mandatory = $true)][string]$RtkCapture,
    [Parameter(Mandatory = $true)][string]$ImuCapture,
    [string]$LidarObject = "frontlidar",
    [string]$LidarCaptureName = "h32.rscap",
    [string]$Timezone = "+08:00",
    [string[]]$StationNames = @(),
    [int]$Stride = 1,
    [double]$RtkMaxDtMs = 150.0,
    [double]$ImuBeforeMs = 100.0,
    [double]$ImuAfterMs = 100.0,
    [ValidateSet("device_gnss", "host")][string]$TimeBasis = "device_gnss",
    [switch]$SkipLidarExport,
    [switch]$SkipSerialParsing
)

$ErrorActionPreference = "Stop"
$RepoRoot = Split-Path -Parent $PSScriptRoot
$Exporter = Join-Path $RepoRoot "tools\export_raw_to_combined.py"

foreach ($Path in @($DataRoot, $RtkCapture, $ImuCapture)) {
    if (-not (Test-Path -LiteralPath $Path)) { throw "Input does not exist: $Path" }
}
if ($Stride -lt 1) { throw "Stride must be at least 1" }
if ($SkipLidarExport -or $SkipSerialParsing) {
    throw "Partial skip flags are no longer supported; use tools/export_raw_to_combined.py internals or run_direct_rtk_lidar.ps1 on an existing combined/"
}

$Args = @(
    $Exporter,
    "--stations-root", $DataRoot,
    "--rtk-rscap", $RtkCapture,
    "--imu-rscap", $ImuCapture,
    "--out", $OutputRoot,
    "--lidar-capture-name", $LidarCaptureName,
    "--lidar-object", $LidarObject,
    "--timezone", $Timezone,
    "--stride", "$Stride",
    "--rtk-max-dt-ms", "$RtkMaxDtMs",
    "--imu-before-ms", "$ImuBeforeMs",
    "--imu-after-ms", "$ImuAfterMs",
    "--time-basis", $TimeBasis,
    "--overwrite"
)
foreach ($Name in $StationNames) {
    $Args += @("--station", $Name)
}

Write-Host "[raw → combined one-shot export]"
& python @Args
if ($LASTEXITCODE -ne 0) {
    throw "export_raw_to_combined failed with Python exit code $LASTEXITCODE"
}

Write-Host "Combined NPZ: $(Join-Path $OutputRoot 'combined')"
Write-Host "Summary: $(Join-Path $OutputRoot 'export_summary.json')"