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: 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: Prepare distribution package (scripts + environment)
        if: steps.should_build.outputs.should_build == 'true'
        run: |
          echo "=========================================="
          echo "Creating distribution package..."
          echo "Platform: ${{ matrix.platform }}"
          echo "=========================================="
          mkdir -p dist-package

          # Copy packed environment
          echo "Adding: unilab-env-${{ matrix.platform }}.tar.gz"
          cp unilab-env-${{ matrix.platform }}.tar.gz dist-package/

          # Copy installation script (platform specific)
          if [ "${{ matrix.platform }}" == "win-64" ]; then
            echo "Adding: install_unilab.bat"
            cp scripts/install_unilab.bat dist-package/
          else
            echo "Adding: install_unilab.sh"
            cp scripts/install_unilab.sh dist-package/
            chmod +x dist-package/install_unilab.sh
          fi

          # Copy verification script
          echo "Adding: verify_installation.py"
          cp scripts/verify_installation.py dist-package/

          # Create README
          echo "Creating: README.txt"
          cat > dist-package/README.txt << 'EOFREADME'
          UniLabOS Conda-Pack Environment
          ================================

          This package contains a pre-built UniLabOS environment.

          Installation Instructions:
          --------------------------

          Windows:
            1. Extract unilab-pack-win-64.zip
            2. Double-click install_unilab.bat (or run in cmd)
            3. Follow the prompts

          macOS/Linux:
            1. Extract unilab-pack-{platform}.tar.gz
            2. Run: bash install_unilab.sh
            3. Follow the prompts

          The installation script will:
            - Automatically find your conda installation
            - Extract the environment to conda's envs/unilab directory
            - Run conda-unpack to finalize setup

          After installation:
            conda activate unilab
            python verify_installation.py

          Package Contents:
            - install_unilab script (automatic installation)
            - unilab-env-{platform}.tar.gz (packed environment)
            - verify_installation.py (verification tool)
            - README.txt (this file)

          Branch: ${{ github.event.inputs.branch }}
          Platform: ${{ matrix.platform }}
          Python: 3.11.11
          Build Date: $(date -u +"%Y-%m-%d %H:%M:%S UTC")
          EOFREADME

          echo ""
          echo "Distribution package contents:"
          ls -lh dist-package/
          echo ""

      - name: Create final distribution archive (ZIP/TAR.GZ)
        if: steps.should_build.outputs.should_build == 'true'
        run: |
          echo "=========================================="
          if [ "${{ matrix.platform }}" == "win-64" ]; then
            echo "Creating Windows ZIP archive..."
            echo "Archive: unilab-pack-win-64.zip"
            echo "Contents: install_unilab.bat + unilab-env-win-64.tar.gz + extras"
            cd dist-package
            powershell -Command "Compress-Archive -Path * -DestinationPath ../unilab-pack-${{ matrix.platform }}.zip -Force"
            cd ..
          else
            echo "Creating Unix/Linux TAR.GZ archive..."
            echo "Archive: unilab-pack-${{ matrix.platform }}.tar.gz"
            echo "Contents: install_unilab.sh + unilab-env-${{ matrix.platform }}.tar.gz + extras"
            tar -czf unilab-pack-${{ matrix.platform }}.tar.gz -C dist-package .
          fi
          echo "=========================================="

          echo ""
          echo "Final package created:"
          ls -lh unilab-pack-*
          echo ""

          if [ "${{ matrix.platform }}" == "win-64" ]; then
            echo "Users can now:"
            echo "  1. Download unilab-pack-win-64.zip"
            echo "  2. Extract it"
            echo "  3. Run install_unilab.bat"
          else
            echo "Users can now:"
            echo "  1. Download unilab-pack-${{ matrix.platform }}.tar.gz"
            echo "  2. Extract it: tar -xzf unilab-pack-${{ matrix.platform }}.tar.gz"
            echo "  3. Run: bash install_unilab.sh"
          fi
          echo ""

      - name: Upload distribution package
        if: steps.should_build.outputs.should_build == 'true'
        uses: actions/upload-artifact@v4
        with:
          name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
          path: unilab-pack-*
          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: ${{ github.event.inputs.branch }}"
          echo "Python version: 3.11.11"
          echo ""
          echo "Package contents:"
          if [ "${{ matrix.platform }}" == "win-64" ]; then
            echo "  - unilab-pack-${{ matrix.platform }}.zip"
          else
            echo "  - unilab-pack-${{ matrix.platform }}.tar.gz"
          fi
          echo "  - unilab-env-${{ matrix.platform }}.tar.gz (packed environment)"
          echo "  - install_unilab script"
          echo "  - verify_installation.py"
          echo "  - README.txt"
          echo ""
          echo "Package size:"
          ls -lh unilab-pack-* 2>/dev/null || ls -lh unilab-env-${{ matrix.platform }}.tar.gz
          echo ""
          echo "Download the artifact and run the install script!"
          echo "=========================================="