#!/usr/bin/env bash
# =============================================================================
# setup_venv.sh —— 在 Linux / macOS / WSL / Docker 容器内创建标准 Python venv,
#                    不污染系统 Python。
#
# 流程:
#   1) python3 -m venv .venv        —— 在项目根建一个 .venv 目录;
#   2) source .venv/bin/activate    —— 激活 venv,后续 pip/python 都走 venv;
#   3) pip install -r requirements-dev.txt —— 装开发工具(ruff/black/mypy/pytest);
#   4) pip install -e <每个 ROS2 Python 包> —— 把本项目 Python 包装到 venv (editable);
#   5) 若 ROS2 客户端库已通过 apt 装(ros-humble-desktop),把 /opt/ros/humble/lib/python3.10/site-packages
#      加进 PYTHONPATH,使 venv 里也能 import rclpy / sensor_msgs 等。
#
# 注意:Windows 没有 rclpy wheels,所以在 Windows 上跑这脚本只能装"开发工具 + numpy",
#        ROS2 节点必须在 Docker / WSL 内执行。
# =============================================================================

set -euo pipefail
cd "$(dirname "$0")/.."   # 切到项目根(脚本在 tools/)

PYTHON="${PYTHON:-python3}"
VENV_DIR=".venv"

echo "==> Python: $($PYTHON --version) at $($PYTHON -c 'import sys; print(sys.executable)')"

# 1) venv
if [ ! -d "$VENV_DIR" ]; then
    echo "==> Creating venv at $VENV_DIR"
    $PYTHON -m venv "$VENV_DIR"
else
    echo "==> Reusing existing venv at $VENV_DIR"
fi

# 2) 激活 venv(本 shell 子进程里)
# shellcheck disable=SC1091
source "$VENV_DIR/bin/activate"

echo "==> venv Python: $(python --version) at $(which python)"

# 3) 升级 pip + 装开发依赖
echo "==> Upgrading pip + installing requirements-dev.txt"
python -m pip install --upgrade pip wheel setuptools
python -m pip install -r requirements-dev.txt

# 4) pip install -e 把本项目 ROS2 Python 包装到 venv(可编辑模式)
echo "==> Installing ROS2 Python packages (editable)"
for pkg in py_pubsub py_srv py_action_demo py_vision_demo; do
    if [ -d "src/$pkg" ]; then
        python -m pip install -e "src/$pkg" --no-deps
        echo "    OK $pkg"
    fi
done

# 5) 若 /opt/ros/humble 存在,自动把 site-packages 注入 venv
ROS_PYTHON_SITE="/opt/ros/humble/lib/python3.10/site-packages"
if [ -d "$ROS_PYTHON_SITE" ]; then
    echo "==> ROS2 detected at /opt/ros/humble. To import rclpy inside venv, run:"
    echo "    export PYTHONPATH=\"$ROS_PYTHON_SITE:\${PYTHONPATH:-}\""
    echo "    (this script does NOT mutate the system; do it manually when you need it)"
fi

echo
echo "✅ venv ready. Activate with:"
echo "    source $VENV_DIR/bin/activate"
echo
echo "Next steps:"
echo "    pytest src/py_pubsub/test -m 'not ros'        # 本机纯逻辑测试"
echo "    docker exec ros2_dev bash -lc 'cd /root/ros2_ws && colcon test'  # 容器内 ROS2 测试"