# ibrobot_ws 通用开发环境脚本 (支持 Bash & Zsh)
# 使用方法: source .shrc_local

# 0. 颜色定义 & 状态收集
GREEN='\033[0;32m'
YELLOW='\033[0;33m'
GRAY='\033[0;90m'
NC='\033[0m'
_IB_STEPS=()        # 已生效的步骤
_IB_SKIPPED=()      # 未生效/跳过的步骤

# 1. 加载基础 ROS 2 环境
if [ -f "/opt/ros/humble/setup.sh" ]; then
    source /opt/ros/humble/setup.sh
    _IB_STEPS+=("ROS 2 Humble")
else
    _IB_SKIPPED+=("ROS 2 Humble (未找到 /opt/ros/humble)")
fi

# 2. 如果当前在 conda 虚拟环境中，先退出
if [ -n "$CONDA_DEFAULT_ENV" ] && command -v conda &> /dev/null; then
    conda deactivate
    _IB_STEPS+=("退出 conda 环境")
fi

# 3. 激活虚拟环境
if [ -f "venv/bin/activate" ]; then
    source venv/bin/activate
    _IB_STEPS+=("Python venv")
else
    _IB_SKIPPED+=("Python venv (未找到 venv/bin/activate)")
fi

# 4. 禁用用户 site-packages，避免 ~/.local 与 workspace venv 混装
export PYTHONNOUSERSITE=1

# 5. 设置 PYTHONPATH
# 确保优先使用 venv 和 libs 中的源码，使用绝对路径以支持跨目录调用
WORKSPACE_DIR="$(cd "$(dirname "${BASH_SOURCE[0]:-${(%):-%x}}")" && pwd)"
PYTHON_VER="$(python3 -c 'import sys; print(f"python{sys.version_info.major}.{sys.version_info.minor}")')"
export PYTHONPATH="${WORKSPACE_DIR}/libs/lerobot/src:${WORKSPACE_DIR}/libs/atomgit_sdk/src:${WORKSPACE_DIR}/venv/lib/${PYTHON_VER}/site-packages:${PYTHONPATH}"
_IB_STEPS+=("PYTHONPATH (lerobot/atomgit_sdk)")

# 6. 日志与调试增强
export RCUTILS_COLORIZED_OUTPUT=1
export PYTHONUNBUFFERED=1

# 7. 加载本地编译后的包 (如果已编译)
if [ -f "${WORKSPACE_DIR}/install/setup.sh" ]; then
    source "${WORKSPACE_DIR}/install/setup.sh"
    _IB_STEPS+=("workspace install/")
else
    _IB_SKIPPED+=("workspace install/ (尚未 colcon build)")
fi

# 7.1 加载 CANN (华为昇腾 Ascend) 环境，如已安装
# 按优先级依次探测常见安装位置
_CANN_CANDIDATES=(
    "${ASCEND_TOOLKIT_HOME}/set_env.sh"
    "/usr/local/Ascend/ascend-toolkit/set_env.sh"
    "${HOME}/Ascend/ascend-toolkit/set_env.sh"
)
_CANN_LOADED=""
for _cann_env in "${_CANN_CANDIDATES[@]}"; do
    if [ -n "${_cann_env}" ] && [ -f "${_cann_env}" ]; then
        source "${_cann_env}"
        _CANN_LOADED="${_cann_env}"
        break
    fi
done
if [ -n "${_CANN_LOADED}" ]; then
    _IB_STEPS+=("CANN (${_CANN_LOADED})")
else
    _IB_SKIPPED+=("CANN (未检测到 Ascend toolkit)")
fi
unset _CANN_CANDIDATES _cann_env _CANN_LOADED

# 8. 别名设置
alias cb='python3 -m colcon build --symlink-install --merge-install --cmake-args -DCMAKE_BUILD_TYPE=Release'
alias cbp='python3 -m colcon build --symlink-install --merge-install --packages-select'
alias src='source install/setup.sh'

# 9. 欢迎信息 + 步骤摘要 (仅在交互式 Shell 中输出)
if [[ $- == *i* ]]; then
    echo -e "${GREEN}[ibrobot_ws]${NC} 环境已就绪！"
    for _s in "${_IB_STEPS[@]}";   do echo -e "  ${GREEN}✔${NC} ${_s}"; done
    for _s in "${_IB_SKIPPED[@]}"; do echo -e "  ${GRAY}✘ ${_s}${NC}"; done
    echo -e "常用指令: ${YELLOW}cb${NC} (编译全部), ${YELLOW}cbp${NC} (编译指定包), ${YELLOW}src${NC} (刷新环境)"
    unset _s
fi
unset _IB_STEPS _IB_SKIPPED