add conda-pack-build.yml

.github/workflows/conda-pack-build.yml

@@ -0,0 +1,178 @@
+name: Build Conda-Pack Environment
+
+on:
+  workflow_dispatch:
+    inputs:
+      branch:
+        description: '选择要构建的分支'
+        required: true
+        default: 'dev'
+        type: string
+      platforms:
+        description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
+        required: false
+        default: 'win-64'
+        type: string
+
+jobs:
+  build-conda-pack:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-latest
+            platform: linux-64
+            env_file: unilabos-linux-64.yaml
+            script_ext: sh
+          - os: macos-13 # Intel
+            platform: osx-64
+            env_file: unilabos-osx-64.yaml
+            script_ext: sh
+          - os: macos-latest # ARM64
+            platform: osx-arm64
+            env_file: unilabos-osx-arm64.yaml
+            script_ext: sh
+          - os: windows-latest
+            platform: win-64
+            env_file: unilabos-win64.yaml
+            script_ext: bat
+
+    runs-on: ${{ matrix.os }}
+
+    defaults:
+      run:
+        shell: bash -l {0}
+
+    steps:
+      - name: Check if platform should be built
+        id: should_build
+        run: |
+          if [[ -z "${{ github.event.inputs.platforms }}" ]]; then
+            echo "should_build=true" >> $GITHUB_OUTPUT
+          elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
+            echo "should_build=true" >> $GITHUB_OUTPUT
+          else
+            echo "should_build=false" >> $GITHUB_OUTPUT
+          fi
+
+      - uses: actions/checkout@v4
+        if: steps.should_build.outputs.should_build == 'true'
+        with:
+          ref: ${{ github.event.inputs.branch }}
+          fetch-depth: 0
+
+      - name: Setup Miniconda
+        if: steps.should_build.outputs.should_build == 'true'
+        uses: conda-incubator/setup-miniconda@v3
+        with:
+          miniconda-version: 'latest'
+          python-version: '3.11.11'
+          channels: conda-forge,robostack-staging,uni-lab,defaults
+          channel-priority: strict
+          activate-environment: unilab
+          auto-activate-base: false
+          auto-update-conda: false
+          show-channel-urls: true
+
+      - name: Install conda-pack
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          conda install -c conda-forge conda-pack -y
+
+      - name: Install unilabos and dependencies
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          echo "Installing unilabos and dependencies to unilab environment..."
+          conda install uni-lab::unilabos -c uni-lab -c robostack-staging -c conda-forge -y
+
+      - name: Get latest ros-humble-unilabos-msgs version
+        if: steps.should_build.outputs.should_build == 'true'
+        id: msgs_version
+        run: |
+          INSTALLED_VERSION=$(conda list ros-humble-unilabos-msgs | grep ros-humble-unilabos-msgs | awk '{print $2}')
+          echo "installed_version=$INSTALLED_VERSION" >> $GITHUB_OUTPUT
+          echo "Installed ros-humble-unilabos-msgs version: $INSTALLED_VERSION"
+
+      - name: Check for newer ros-humble-unilabos-msgs
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          echo "Checking for available ros-humble-unilabos-msgs versions..."
+          conda search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge --info || echo "Search completed"
+
+          echo "Updating ros-humble-unilabos-msgs to latest version..."
+          conda update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo "Already at latest version"
+
+      - name: Install latest unilabos from source
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          echo "Uninstalling existing unilabos..."
+          pip uninstall unilabos -y || echo "unilabos not installed via pip"
+
+          echo "Installing unilabos from source (branch: ${{ github.event.inputs.branch }})..."
+          pip install .
+
+          echo "Verifying installation..."
+          pip show unilabos
+
+      - name: Display environment info
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          echo "=== Environment Information ==="
+          conda env list
+          echo ""
+          echo "=== Installed Packages ==="
+          conda list | grep -E "(unilabos|ros-humble-unilabos-msgs)" || conda list
+          echo ""
+          echo "=== Python Packages ==="
+          pip list | grep unilabos || pip list
+
+      - name: Verify environment integrity
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          echo "Verifying Python version..."
+          python -c "import sys; print(f'Python version: {sys.version}')"
+
+          echo "Verifying unilabos import..."
+          python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo "Warning: Could not import unilabos"
+
+          echo "Checking critical packages..."
+          python -c "import rclpy; print('ROS2 rclpy: OK')"
+
+          echo "Running comprehensive verification script..."
+          python scripts/verify_installation.py || echo "Warning: Verification script reported issues"
+
+          echo "Environment verification complete!"
+
+      - name: Pack conda environment
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          echo "Packing unilab environment with conda-pack..."
+          conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
+
+          echo "Pack file created:"
+          ls -lh unilab-env-${{ matrix.platform }}.tar.gz
+
+      - name: Upload packed environment
+        if: steps.should_build.outputs.should_build == 'true'
+        uses: actions/upload-artifact@v4
+        with:
+          name: unilab-env-${{ matrix.platform }}-${{ github.event.inputs.branch }}
+          path: unilab-env-${{ matrix.platform }}.tar.gz
+          retention-days: 90
+          if-no-files-found: error
+
+      - name: Display package info
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          echo "=========================================="
+          echo "Build Summary"
+          echo "=========================================="
+          echo "Platform: ${{ matrix.platform }}"
+          echo "Branch: ${{ github.event.inputs.branch }}"
+          echo "Python version: 3.11.11"
+          echo "Package size:"
+          ls -lh unilab-env-${{ matrix.platform }}.tar.gz
+          echo ""
+          echo "This package contains the complete unilab environment."
+          echo "Download and extract to use the environment."
+          echo "=========================================="

scripts/verify_installation.py

@@ -0,0 +1,125 @@
+#!/usr/bin/env python3
+"""
+UniLabOS Installation Verification Script
+=========================================
+
+This script verifies that UniLabOS and its dependencies are correctly installed.
+Run this script after installing the conda-pack environment to ensure everything works.
+
+Usage:
+    python verify_installation.py
+
+    Or in the conda environment:
+    conda activate unilab
+    python verify_installation.py
+"""
+
+import sys
+import importlib
+
+
+def check_package(package_name: str, display_name: str = None) -> bool:
+    """
+    Check if a package can be imported.
+
+    Args:
+        package_name: Name of the package to import
+        display_name: Display name (defaults to package_name)
+
+    Returns:
+        bool: True if package is available
+    """
+    if display_name is None:
+        display_name = package_name
+
+    try:
+        importlib.import_module(package_name)
+        print(f"  ✓ {display_name}")
+        return True
+    except ImportError:
+        print(f"  ✗ {display_name}")
+        return False
+
+
+def check_python_version() -> bool:
+    """Check Python version."""
+    version = sys.version_info
+    version_str = f"{version.major}.{version.minor}.{version.micro}"
+
+    if version.major == 3 and version.minor >= 11:
+        print(f"  ✓ Python {version_str}")
+        return True
+    else:
+        print(f"  ✗ Python {version_str} (requires Python 3.8+)")
+        return False
+
+
+def main():
+    """Run all verification checks."""
+    print("=" * 60)
+    print("UniLabOS Installation Verification")
+    print("=" * 60)
+    print()
+
+    all_passed = True
+
+    # Check Python version
+    print("Checking Python version...")
+    if not check_python_version():
+        all_passed = False
+    print()
+
+    # Check ROS2 rclpy
+    print("Checking ROS2 rclpy...")
+    if not check_package("rclpy", "ROS2 rclpy"):
+        all_passed = False
+    print()
+
+    # Run environment checker from unilabos
+    print("Checking UniLabOS and dependencies...")
+    try:
+        from unilabos.utils.environment_check import EnvironmentChecker
+
+        print("  ✓ UniLabOS installed")
+
+        checker = EnvironmentChecker()
+        env_check_passed = checker.check_all_packages()
+
+        if env_check_passed:
+            print("  ✓ All required packages available")
+        else:
+            print(f"  ✗ Missing {len(checker.missing_packages)} package(s):")
+            for import_name, _ in checker.missing_packages:
+                print(f"    - {import_name}")
+            all_passed = False
+    except ImportError:
+        print("  ✗ UniLabOS not installed")
+        all_passed = False
+    except Exception as e:
+        print(f"  ✗ Environment check failed: {str(e)}")
+        all_passed = False
+    print()
+
+    # Summary
+    print("=" * 60)
+    print("Verification Summary")
+    print("=" * 60)
+
+    if all_passed:
+        print("\n✓ All checks passed! Your UniLabOS installation is ready.")
+        print("\nNext steps:")
+        print("  1. Review the documentation: docs/user_guide/launch.md")
+        print("  2. Try the examples: docs/boot_examples/")
+        print("  3. Configure your devices: unilabos_data/startup_config.json")
+        return 0
+    else:
+        print("\n✗ Some checks failed. Please review the errors above.")
+        print("\nTroubleshooting:")
+        print("  1. Ensure you're in the correct conda environment: conda activate unilab")
+        print("  2. Check the installation documentation: docs/user_guide/installation.md")
+        print("  3. Try reinstalling: pip install -e .")
+        return 1
+
+
+if __name__ == "__main__":
+    sys.exit(main())