# Unity Environment Check Script
# 简化版Unity环境检查脚本

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

$ProjectRoot = Split-Path -Parent $PSScriptRoot
$PickAndPlaceProject = Join-Path (Split-Path -Parent $ProjectRoot) "PickAndPlaceProject"

Write-Host "=== Unity Environment Check ===" -ForegroundColor Green
Write-Host "Unity Path: $UnityPath" -ForegroundColor Cyan
Write-Host "Project Path: $PickAndPlaceProject" -ForegroundColor Cyan

# 检查Unity安装
Write-Host "`nChecking Unity installation..." -ForegroundColor Yellow
if (Test-Path $UnityPath) {
    Write-Host "✓ Unity 2021.3.33f1c1 found" -ForegroundColor Green
} else {
    Write-Host "✗ Unity not found at specified path" -ForegroundColor Red
    exit 1
}

# 检查项目存在
Write-Host "`nChecking project..." -ForegroundColor Yellow
if (Test-Path $PickAndPlaceProject) {
    Write-Host "✓ PickAndPlace project found" -ForegroundColor Green
} else {
    Write-Host "✗ Project directory not found" -ForegroundColor Red
    exit 1
}

# 检查项目版本
$versionFile = Join-Path $PickAndPlaceProject "ProjectSettings\ProjectVersion.txt"
if (Test-Path $versionFile) {
    $content = Get-Content $versionFile
    $version = ($content | Where-Object { $_ -match "m_EditorVersion:" }) -replace "m_EditorVersion: ", ""
    Write-Host "Current project version: $version" -ForegroundColor Gray
    
    if ($version -like "2022.*") {
        Write-Host "⚠ Project created with Unity 2022.x, may need version adjustment" -ForegroundColor Yellow
    }
}

# 检查ROS包
$manifestFile = Join-Path $PickAndPlaceProject "Packages\manifest.json"
if (Test-Path $manifestFile) {
    Write-Host "`nChecking ROS packages..." -ForegroundColor Yellow
    $manifest = Get-Content $manifestFile -Raw | ConvertFrom-Json
    
    if ($manifest.dependencies."com.unity.robotics.ros-tcp-connector") {
        Write-Host "✓ ROS TCP Connector found" -ForegroundColor Green
    } else {
        Write-Host "✗ ROS TCP Connector missing" -ForegroundColor Red
    }
    
    if ($manifest.dependencies."com.unity.robotics.urdf-importer") {
        Write-Host "✓ URDF Importer found" -ForegroundColor Green
    } else {
        Write-Host "✗ URDF Importer missing" -ForegroundColor Red
    }
}

# 测试网络连接
Write-Host "`nTesting ROS connection..." -ForegroundColor Yellow
try {
    $connection = Test-NetConnection -ComputerName "localhost" -Port 10000 -WarningAction SilentlyContinue
    if ($connection.TcpTestSucceeded) {
        Write-Host "✓ ROS TCP Endpoint accessible on port 10000" -ForegroundColor Green
    } else {
        Write-Host "⚠ ROS TCP Endpoint not accessible (Docker may not be running)" -ForegroundColor Yellow
    }
} catch {
    Write-Host "⚠ Could not test network connectivity" -ForegroundColor Yellow
}

# 打开项目选项
if ($OpenProject) {
    Write-Host "`nOpening Unity project..." -ForegroundColor Yellow
    
    # 更新项目版本到2021.3
    $newContent = @(
        "m_EditorVersion: 2021.3.33f1c1"
        "m_EditorVersionWithRevision: 2021.3.33f1c1 (b9a993fd2ece)"
    )
    Set-Content -Path $versionFile -Value $newContent -Encoding UTF8
    Write-Host "✓ Project version updated to 2021.3.33f1c1" -ForegroundColor Green
    
    # 启动Unity
    Start-Process -FilePath $UnityPath -ArgumentList "-projectPath `"$PickAndPlaceProject`""
    Write-Host "✓ Unity starting..." -ForegroundColor Green
    Write-Host "Please wait for Unity to load and resolve packages" -ForegroundColor Gray
}

Write-Host "`n=== Summary ===" -ForegroundColor Cyan
Write-Host "Unity 2021.3.33f1c1: Available" -ForegroundColor Green
Write-Host "PickAndPlace Project: Ready" -ForegroundColor Green
Write-Host "ROS Packages: Installed" -ForegroundColor Green
Write-Host ""
Write-Host "Next steps:" -ForegroundColor Yellow
Write-Host "1. Run: .\unity-check.ps1 -OpenProject  # Open Unity project"
Write-Host "2. Wait for Docker ROS2 container to finish building"
Write-Host "3. Test Unity-ROS2 connection"