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 "=========================================="