# =============================================================================
# setup_venv.ps1 —— 在 Windows 上创建标准 Python venv,不污染系统 Python。
#
# 重要前提:
#   - Windows 上 rclpy / sensor_msgs / cv_bridge 没有官方 pip wheels,
#     所以 venv 里 *只能装纯 Python 工具*(ruff / black / mypy / pytest / numpy)。
#   - 真正的 ROS2 节点必须在 Docker Desktop 容器内 / WSL Ubuntu 内运行。
#   - 本机用 VSCode / PyCharm 等 IDE 时,把 interpreter 指向 .venv\Scripts\python.exe
#     即可享受自动补全 / 类型检查,即使 rclpy 解析不了也没关系
#     (pyrightconfig.json 已配置 ignore_missing_imports)。
#
# 使用:
#   PS> .\tools\setup_venv.ps1
#   PS> .\.venv\Scripts\Activate.ps1
# =============================================================================

$ErrorActionPreference = 'Stop'

# 切到脚本所在目录的上一级(项目根)
Set-Location -LiteralPath (Join-Path $PSScriptRoot '..')

# 优先 python,找不到再 python3
$PYTHON = $null
foreach ($cand in @('python', 'python3', 'py')) {
    $cmd = Get-Command $cand -ErrorAction SilentlyContinue
    if ($cmd) { $PYTHON = $cand; break }
}
if (-not $PYTHON) {
    throw 'Python not found in PATH. Install Python 3.10+ from python.org first.'
}

Write-Host "==> Using: $PYTHON" -ForegroundColor Cyan
& $PYTHON --version

$VENV_DIR = '.venv'

# 1) 创建 venv(若已存在则提示并复用)
if (-not (Test-Path -LiteralPath $VENV_DIR)) {
    Write-Host "==> Creating venv at $VENV_DIR" -ForegroundColor Cyan
    & $PYTHON -m venv $VENV_DIR
} else {
    Write-Host "==> Reusing existing venv at $VENV_DIR" -ForegroundColor Yellow
}

$venvPython = Join-Path $VENV_DIR 'Scripts\python.exe'
if (-not (Test-Path -LiteralPath $venvPython)) {
    throw "venv python.exe not found at $venvPython"
}

# 2) 升级 pip + 装开发依赖
Write-Host "==> Upgrading pip + installing requirements-dev.txt" -ForegroundColor Cyan
& $venvPython -m pip install --upgrade pip wheel setuptools
& $venvPython -m pip install -r requirements-dev.txt

# 3) pip install -e 把本项目 ROS2 Python 包装到 venv(纯 Python 部分,不动 ROS 客户端)
Write-Host "==> Installing ROS2 Python packages (editable)" -ForegroundColor Cyan
foreach ($pkg in @('py_pubsub','py_srv','py_action_demo','py_vision_demo')) {
    $pkgDir = Join-Path 'src' $pkg
    if (Test-Path -LiteralPath $pkgDir) {
        & $venvPython -m pip install -e $pkgDir --no-deps
        Write-Host "    OK $pkg" -ForegroundColor Green
    }
}

Write-Host ''
Write-Host 'venv ready. Activate with:' -ForegroundColor Green
Write-Host '    .\.venv\Scripts\Activate.ps1' -ForegroundColor Green
Write-Host ''
Write-Host 'Next steps (Windows):' -ForegroundColor Yellow
Write-Host '    pytest src/py_pubsub/test -m "not ros"   # 本机纯逻辑测试'
Write-Host '    docker exec ros2_dev bash -lc "cd /root/ros2_ws && colcon test"   # 容器内 ROS2 测试'