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:
        # Windows needs PowerShell for conda/mamba, Unix uses bash
        shell: ${{ matrix.platform == 'win-64' && 'pwsh' || 'bash -el {0}' }}

    steps:
      - name: Check if platform should be built
        id: should_build
        shell: bash
        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 Miniforge (with mamba)
        if: steps.should_build.outputs.should_build == 'true'
        uses: conda-incubator/setup-miniconda@v3
        with:
          miniforge-version: latest
          use-mamba: true
          python-version: '3.11.11'
          channels: conda-forge,robostack-staging,uni-lab,defaults
          channel-priority: flexible
          activate-environment: unilab
          auto-activate-base: true
          auto-update-conda: false
          show-channel-urls: true

      - name: Install conda-pack, unilabos and dependencies
        if: steps.should_build.outputs.should_build == 'true'
        run: |
          echo "Installing unilabos and dependencies to unilab environment..."
          echo "Using mamba for faster and more reliable dependency resolution..."
          mamba install uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y

      - name: Get latest ros-humble-unilabos-msgs version (Windows)
        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
        id: msgs_version_win
        run: |
          Write-Host "Checking installed ros-humble-unilabos-msgs version..."
          $version = (conda list ros-humble-unilabos-msgs --json | ConvertFrom-Json)[0].version
          Write-Output "installed_version=$version" >> $env:GITHUB_OUTPUT
          Write-Host "Installed ros-humble-unilabos-msgs version: $version"

      - name: Get latest ros-humble-unilabos-msgs version (Unix)
        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
        id: msgs_version_unix
        shell: bash
        run: |
          echo "Checking installed ros-humble-unilabos-msgs version..."
          VERSION=$(conda list ros-humble-unilabos-msgs --json | python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')")
          echo "installed_version=$VERSION" >> $GITHUB_OUTPUT
          echo "Installed ros-humble-unilabos-msgs version: $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..."
          mamba 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..."
          mamba 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 Windows distribution package
        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
        run: |
          Write-Host "=========================================="
          Write-Host "Creating distribution package..."
          Write-Host "Platform: ${{ matrix.platform }}"
          Write-Host "=========================================="
          New-Item -ItemType Directory -Force -Path dist-package | Out-Null

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

          # Copy installation script
          Write-Host "Adding: install_unilab.bat"
          Copy-Item scripts/install_unilab.bat dist-package/

          # Copy verification script
          Write-Host "Adding: verify_installation.py"
          Copy-Item scripts/verify_installation.py dist-package/

          # Create README using Python script
          Write-Host "Creating: README.txt"
          python scripts/create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package/README.txt

          Write-Host ""
          Write-Host "Distribution package contents:"
          Get-ChildItem dist-package | Format-Table Name, Length
          Write-Host ""

      - name: Prepare Unix/Linux distribution package
        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
        shell: bash
        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
          echo "Adding: install_unilab.sh"
          cp scripts/install_unilab.sh dist-package/
          chmod +x dist-package/install_unilab.sh

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

          # Create README using Python script
          echo "Creating: README.txt"
          python scripts/create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package/README.txt

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

      - name: Create Windows ZIP archive
        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
        run: |
          Write-Host "=========================================="
          Write-Host "Creating Windows ZIP archive (ZIP64 support for large files)..."
          Write-Host "Archive: unilab-pack-${{ matrix.platform }}.zip"
          Write-Host "Contents: install_unilab.bat + unilab-env-${{ matrix.platform }}.tar.gz + extras"
          Write-Host ""

          # Use Python script with ZIP64 support instead of PowerShell Compress-Archive
          # PowerShell Compress-Archive has a 2GB limitation
          python scripts/create_zip_archive.py dist-package unilab-pack-${{ matrix.platform }}.zip

          Write-Host "=========================================="
          Write-Host ""
          Write-Host "Final package created:"
          Get-ChildItem unilab-pack-* | Format-Table Name, Length
          Write-Host ""
          Write-Host "Users can now:"
          Write-Host "  1. Download unilab-pack-${{ matrix.platform }}.zip"
          Write-Host "  2. Extract it"
          Write-Host "  3. Run install_unilab.bat"
          Write-Host ""

      - name: Create Unix/Linux TAR.GZ archive
        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
        shell: bash
        run: |
          echo "=========================================="
          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 .
          echo "=========================================="

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