# Unity Environment Setup Script for ROS2 Integration
# 配置Unity环境以支持ROS2机器人控制系统

param(
    [switch]$CheckVersion,
    [switch]$OpenProject,
    [switch]$UpdatePackages,
    [switch]$VerifySetup,
    [string]$UnityPath = "C:\Program Files\Unity\Hub\Editor\2021.3.33f1c1\Editor\Unity.exe"
)

# 项目路径配置
$ProjectRoot = Split-Path -Parent $PSScriptRoot
$PickAndPlaceProject = Join-Path (Split-Path -Parent $ProjectRoot) "PickAndPlaceProject"
$UnityProject = Join-Path $ProjectRoot "unity-project"

Write-Host "=== Unity Environment Setup Script ===" -ForegroundColor Green
Write-Host "Unity Path: $UnityPath" -ForegroundColor Cyan
Write-Host "Project Root: $ProjectRoot" -ForegroundColor Cyan
Write-Host "PickAndPlace Project: $PickAndPlaceProject" -ForegroundColor Cyan

function Test-UnityInstallation {
    Write-Host "`nChecking Unity installation..." -ForegroundColor Yellow
    
    if (Test-Path $UnityPath) {
        Write-Host "Unity 2021.3.33f1c1 found at: $UnityPath" -ForegroundColor Green
        
        # 获取Unity版本信息
        try {
            $versionInfo = & $UnityPath -version 2>&1 | Out-String
            Write-Host "Unity Version Info: $versionInfo" -ForegroundColor Gray
        } catch {
            Write-Host "Could not retrieve version info, but Unity executable exists" -ForegroundColor Yellow
        }
        return $true
    } else {
        Write-Host "Unity not found at specified path!" -ForegroundColor Red
        Write-Host "Please verify Unity installation path" -ForegroundColor Red
        return $false
    }
}

function Test-ProjectCompatibility {
    Write-Host "`nChecking project compatibility..." -ForegroundColor Yellow
    
    $projectVersionFile = Join-Path $PickAndPlaceProject "ProjectSettings\ProjectVersion.txt"
    
    if (Test-Path $projectVersionFile) {
        $content = Get-Content $projectVersionFile
        $editorVersion = ($content | Where-Object { $_ -match "m_EditorVersion:" }) -replace "m_EditorVersion: ", ""
        
        Write-Host "Current Project Version: $editorVersion" -ForegroundColor Gray
        Write-Host "Target Unity Version: 2021.3.33f1c1" -ForegroundColor Gray
        
        if ($editorVersion -like "2022.*") {
            Write-Host "Project was created with Unity 2022.x" -ForegroundColor Yellow
            Write-Host "Downgrading to Unity 2021.3 may require package updates" -ForegroundColor Yellow
            return $false
        } elseif ($editorVersion -like "2021.3.*") {
            Write-Host "Project version compatible with Unity 2021.3" -ForegroundColor Green
            return $true
        } else {
            Write-Host "Unknown version compatibility" -ForegroundColor Yellow
            return $false
        }
    } else {
        Write-Host "Project version file not found!" -ForegroundColor Red
        return $false
    }
}

function Test-ROSPackages {
    Write-Host "`nChecking ROS packages..." -ForegroundColor Yellow
    
    $manifestFile = Join-Path $PickAndPlaceProject "Packages\manifest.json"
    
    if (Test-Path $manifestFile) {
        $manifest = Get-Content $manifestFile -Raw | ConvertFrom-Json
        
        # 检查关键的ROS包
        $requiredPackages = @{
            "com.unity.robotics.ros-tcp-connector" = "ROS TCP Connector";
            "com.unity.robotics.urdf-importer" = "URDF Importer"
        }
        
        $allPackagesFound = $true
        
        foreach ($package in $requiredPackages.Keys) {
            if ($manifest.dependencies.PSObject.Properties.Name -contains $package) {
                $version = $manifest.dependencies.$package
                Write-Host "$($requiredPackages[$package]): $version" -ForegroundColor Green
            } else {
                Write-Host "Missing: $($requiredPackages[$package])" -ForegroundColor Red
                $allPackagesFound = $false
            }
        }
        
        return $allPackagesFound
    } else {
        Write-Host "Package manifest not found!" -ForegroundColor Red
        return $false
    }
}

function Update-ProjectVersion {
    Write-Host "`nUpdating project version..." -ForegroundColor Yellow
    
    $projectVersionFile = Join-Path $PickAndPlaceProject "ProjectSettings\ProjectVersion.txt"
    
    if (Test-Path $projectVersionFile) {
        $newContent = @(
            "m_EditorVersion: 2021.3.33f1c1"
            "m_EditorVersionWithRevision: 2021.3.33f1c1 (b9a993fd2ece)"
        )
        
        Set-Content -Path $projectVersionFile -Value $newContent -Encoding UTF8
        Write-Host "Project version updated to Unity 2021.3.33f1c1" -ForegroundColor Green
    } else {
        Write-Host "Could not update project version file" -ForegroundColor Red
    }
}

function Open-UnityProject {
    Write-Host "`nOpening Unity project..." -ForegroundColor Yellow
    
    if (Test-Path $PickAndPlaceProject) {
        Write-Host "Opening project: $PickAndPlaceProject" -ForegroundColor Cyan
        
        # 启动Unity并打开项目
        Start-Process -FilePath $UnityPath -ArgumentList "-projectPath `"$PickAndPlaceProject`"" -NoNewWindow
        
        Write-Host "Unity project opening..." -ForegroundColor Green
        Write-Host "Please wait for Unity to load and resolve packages" -ForegroundColor Gray
    } else {
        Write-Host "Project directory not found!" -ForegroundColor Red
    }
}

function Show-SetupInstructions {
    Write-Host "`n=== Unity Setup Instructions ===" -ForegroundColor Cyan
    Write-Host ""
    Write-Host "1. Project Compatibility Check:" -ForegroundColor Yellow
    Write-Host "   - Current project created with Unity 2022.x"
    Write-Host "   - Needs downgrade to Unity 2021.3.33f1c1"
    Write-Host "   - May require package re-import"
    Write-Host ""
    Write-Host "2. ROS Package Verification:" -ForegroundColor Yellow
    Write-Host "   - ROS TCP Connector: Installed (v0.7.0)"
    Write-Host "   - URDF Importer: Installed (v0.5.2)"
    Write-Host ""
    Write-Host "3. Recommended Steps:" -ForegroundColor Yellow
    Write-Host "   a) Backup current project"
    Write-Host "   b) Open project with Unity 2021.3.33f1c1"
    Write-Host "   c) Allow Unity auto upgrade/downgrade"
    Write-Host "   d) Check ROS packages in Package Manager"
    Write-Host "   e) Re-import necessary assets" -ForegroundColor Yellow
    Write-Host ""
    Write-Host "4. Connection Configuration:" -ForegroundColor Yellow
    Write-Host "   - ROS TCP Endpoint: localhost:10000"
    Write-Host "   - Test connection after Docker container is running"
    Write-Host ""
}

function Test-NetworkConnectivity {
    Write-Host "`nTesting network connectivity..." -ForegroundColor Yellow
    
    # 测试Docker容器端口
    $rosPort = 10000
    try {
        $connection = Test-NetConnection -ComputerName "localhost" -Port $rosPort -WarningAction SilentlyContinue
        if ($connection.TcpTestSucceeded) {
            Write-Host "ROS TCP Endpoint accessible on port $rosPort" -ForegroundColor Green
        } else {
            Write-Host "ROS TCP Endpoint not accessible (Docker container may not be running)" -ForegroundColor Yellow
        }
    } catch {
        Write-Host "Could not test network connectivity" -ForegroundColor Yellow
    }
}

# 主执行逻辑
if ($CheckVersion) {
    Test-UnityInstallation
    Test-ProjectCompatibility
    Test-ROSPackages
} elseif ($OpenProject) {
    if (Test-UnityInstallation) {
        Update-ProjectVersion
        Open-UnityProject
    }
} elseif ($UpdatePackages) {
    Write-Host "Package update functionality will be implemented after Unity opens" -ForegroundColor Yellow
    Show-SetupInstructions
} elseif ($VerifySetup) {
    Test-UnityInstallation
    Test-ProjectCompatibility  
    Test-ROSPackages
    Test-NetworkConnectivity
    Show-SetupInstructions
} else {
    # 默认执行完整检查
    Write-Host "Running complete Unity environment check..." -ForegroundColor Cyan
    
    $unityOK = Test-UnityInstallation
    $projectOK = Test-ProjectCompatibility
    $packagesOK = Test-ROSPackages
    
    if ($unityOK -and $projectOK -and $packagesOK) {
        Write-Host "`nUnity environment ready!" -ForegroundColor Green
        Write-Host "Use -OpenProject to launch Unity with the project" -ForegroundColor Cyan
    } else {
        Write-Host "`nUnity environment needs attention" -ForegroundColor Yellow
        Show-SetupInstructions
    }
}

Write-Host "`n=== Available Commands ===" -ForegroundColor Cyan
Write-Host ".\setup-unity-environment.ps1 -CheckVersion    # Check Unity and project versions"
Write-Host ".\setup-unity-environment.ps1 -OpenProject     # Open Unity project"
Write-Host ".\setup-unity-environment.ps1 -VerifySetup     # Complete environment verification"
Write-Host ".\setup-unity-environment.ps1                  # Run default checks"