# Migrate Project Assets from Old to New Unity Project
# 从旧Unity项目迁移资源到新项目

param(
    [string]$SourceProject = "D:\ros2\DockerRos2Arm-niryo_arm\PickAndPlaceProject",
    [string]$TargetProject = "D:\ros2\DockerRos2Arm-niryo_arm\Unity_MoveIt2\NewUnityProject\ROS2_Niryo_Control",
    [switch]$MigrateScripts,
    [switch]$MigrateURDF,
    [switch]$MigratePrefabs,
    [switch]$MigrateScenes,
    [switch]$MigrateAll
)

Write-Host "=== Migrating Project Assets ===" -ForegroundColor Green

# Check if source project exists
if (-not (Test-Path $SourceProject)) {
    Write-Host "Error: Source project not found at $SourceProject" -ForegroundColor Red
    exit 1
}

# Check if target project exists
if (-not (Test-Path $TargetProject)) {
    Write-Host "Error: Target project not found at $TargetProject" -ForegroundColor Red
    exit 1
}

# Function to copy directory with overwrite
function Copy-DirectoryWithOverwrite {
    param(
        [string]$Source,
        [string]$Destination,
        [string]$Description
    )
    
    if (Test-Path $Source) {
        Write-Host "Copying $Description..." -ForegroundColor Yellow
        
        # Create destination directory if it doesn't exist
        $destDir = Split-Path $Destination -Parent
        if (-not (Test-Path $destDir)) {
            New-Item -ItemType Directory -Path $destDir -Force | Out-Null
        }
        
        # Copy with overwrite
        Copy-Item -Path $Source -Destination $Destination -Recurse -Force
        Write-Host "✓ $Description copied successfully" -ForegroundColor Green
    } else {
        Write-Host "⚠ $Description not found at $Source" -ForegroundColor Yellow
    }
}

# Function to copy individual files
function Copy-FileWithOverwrite {
    param(
        [string]$Source,
        [string]$Destination,
        [string]$Description
    )
    
    if (Test-Path $Source) {
        Write-Host "Copying $Description..." -ForegroundColor Yellow
        
        # Create destination directory if it doesn't exist
        $destDir = Split-Path $Destination -Parent
        if (-not (Test-Path $destDir)) {
            New-Item -ItemType Directory -Path $destDir -Force | Out-Null
        }
        
        Copy-Item -Path $Source -Destination $Destination -Force
        Write-Host "✓ $Description copied successfully" -ForegroundColor Green
    } else {
        Write-Host "⚠ $Description not found at $Source" -ForegroundColor Yellow
    }
}

# Migrate Scripts
if ($MigrateScripts -or $MigrateAll) {
    Write-Host "`n--- Migrating Scripts ---" -ForegroundColor Cyan
    
    # Copy main scripts
    $scriptsToMigrate = @(
        "TrajectoryPlanner.cs",
        "TargetPlacement.cs", 
        "SourceDestinationPublisher.cs",
        "TestData.cs"
    )
    
    foreach ($script in $scriptsToMigrate) {
        $sourcePath = Join-Path $SourceProject "Assets\Scripts\$script"
        $targetPath = Join-Path $TargetProject "Assets\Scripts\Robot\$script"
        Copy-FileWithOverwrite -Source $sourcePath -Destination $targetPath -Description "Script: $script"
    }
    
    # Copy ROS2Demo scripts
    $ros2DemoSource = Join-Path $SourceProject "Assets\Scripts\ROS2Demo"
    $ros2DemoTarget = Join-Path $TargetProject "Assets\Scripts\ROS\Demo"
    Copy-DirectoryWithOverwrite -Source $ros2DemoSource -Destination $ros2DemoTarget -Description "ROS2 Demo Scripts"
}

# Migrate URDF files
if ($MigrateURDF -or $MigrateAll) {
    Write-Host "`n--- Migrating URDF Files ---" -ForegroundColor Cyan
    
    $urdfSource = Join-Path $SourceProject "Assets\URDF\niryo_one"
    $urdfTarget = Join-Path $TargetProject "Assets\URDF\niryo_one"
    Copy-DirectoryWithOverwrite -Source $urdfSource -Destination $urdfTarget -Description "Niryo One URDF Files"
}

# Migrate Prefabs
if ($MigratePrefabs -or $MigrateAll) {
    Write-Host "`n--- Migrating Prefabs ---" -ForegroundColor Cyan
    
    $prefabsSource = Join-Path $SourceProject "Assets\Prefabs"
    $prefabsTarget = Join-Path $TargetProject "Assets\Prefabs"
    
    if (Test-Path $prefabsSource) {
        Copy-DirectoryWithOverwrite -Source $prefabsSource -Destination $prefabsTarget -Description "Prefabs"
    }
}

# Migrate Scenes
if ($MigrateScenes -or $MigrateAll) {
    Write-Host "`n--- Migrating Scenes ---" -ForegroundColor Cyan
    
    $scenesToMigrate = @(
        "TutorialScene.unity",
        "EmptyScene.unity"
    )
    
    foreach ($scene in $scenesToMigrate) {
        $sourcePath = Join-Path $SourceProject "Assets\Scenes\$scene"
        $targetPath = Join-Path $TargetProject "Assets\Scenes\$scene"
        Copy-FileWithOverwrite -Source $sourcePath -Destination $targetPath -Description "Scene: $scene"
        
        # Also copy .meta files
        $sourceMetaPath = "$sourcePath.meta"
        $targetMetaPath = "$targetPath.meta"
        Copy-FileWithOverwrite -Source $sourceMetaPath -Destination $targetMetaPath -Description "Scene Meta: $scene.meta"
    }
}

# Migrate Materials
Write-Host "`n--- Migrating Materials ---" -ForegroundColor Cyan
$materialsSource = Join-Path $SourceProject "Assets\Materials"
$materialsTarget = Join-Path $TargetProject "Assets\Materials"

if (Test-Path $materialsSource) {
    Copy-DirectoryWithOverwrite -Source $materialsSource -Destination $materialsTarget -Description "Materials"
}

# Migrate Resources
Write-Host "`n--- Migrating Resources ---" -ForegroundColor Cyan
$resourcesSource = Join-Path $SourceProject "Assets\Resources"
$resourcesTarget = Join-Path $TargetProject "Assets\Resources"

if (Test-Path $resourcesSource) {
    Copy-DirectoryWithOverwrite -Source $resourcesSource -Destination $resourcesTarget -Description "Resources"
}

# Create updated assembly definition for migrated scripts
Write-Host "`n--- Updating Assembly Definitions ---" -ForegroundColor Cyan

$robotAsmdefContent = @"
{
    "name": "ROS2NiryoControl.Robot",
    "rootNamespace": "ROS2NiryoControl.Robot",
    "references": [
        "ROS2NiryoControl",
        "Unity.Robotics.ROSTCPConnector",
        "Unity.Robotics.ROSTCPConnector.Messages",
        "Unity.Robotics.UrdfImporter"
    ],
    "includePlatforms": [],
    "excludePlatforms": [],
    "allowUnsafeCode": false,
    "overrideReferences": false,
    "precompiledReferences": [],
    "autoReferenced": true,
    "defineConstraints": [],
    "versionDefines": [],
    "noEngineReferences": false
}
"@

$robotAsmdefPath = Join-Path $TargetProject "Assets\Scripts\Robot\ROS2NiryoControl.Robot.asmdef"
Write-Output $robotAsmdefContent | Out-File -FilePath $robotAsmdefPath -Encoding UTF8
Write-Host "✓ Robot assembly definition created" -ForegroundColor Green

# Create migration summary
Write-Host "`n=== Migration Summary ===" -ForegroundColor Green
Write-Host "Source Project: $SourceProject" -ForegroundColor White
Write-Host "Target Project: $TargetProject" -ForegroundColor White
Write-Host ""
Write-Host "Migrated Components:" -ForegroundColor Yellow
Write-Host "✓ Robot control scripts (TrajectoryPlanner, TargetPlacement, etc.)" -ForegroundColor White
Write-Host "✓ Niryo One URDF files and meshes" -ForegroundColor White
Write-Host "✓ ROS2 demo scripts" -ForegroundColor White
Write-Host "✓ Materials and resources" -ForegroundColor White
Write-Host "✓ Scene files (if available)" -ForegroundColor White
Write-Host "✓ Assembly definitions updated" -ForegroundColor White
Write-Host ""
Write-Host "Next Steps:" -ForegroundColor Yellow
Write-Host "1. Open Unity project and resolve any compilation errors" -ForegroundColor White
Write-Host "2. Update script namespaces if needed" -ForegroundColor White
Write-Host "3. Reconfigure prefab references in scenes" -ForegroundColor White
Write-Host "4. Test robot URDF import and visualization" -ForegroundColor White
Write-Host "5. Configure ROS TCP Endpoint connection" -ForegroundColor White

Write-Host "`nMigration completed successfully!" -ForegroundColor Green