#!/usr/bin/env python3
"""
PyInstaller build script for drone simulation executables.
Creates standalone executables that include PyBullet and dependencies.

Usage:
  python build_exe.py                    # Build standalone_simulation
  python build_exe.py simulation_host    # Build simulation_host
  python build_exe.py standalone         # Build standalone_simulation
  python build_exe.py ardupilot          # Build ArduPilot launcher
  python build_exe.py camera_viewer      # Build camera feed viewer
  python build_exe.py all                # Build all
"""

import argparse
import os
import platform
import sys
from pathlib import Path

try:
    import PyInstaller.__main__
    import pybullet_data
except ImportError as e:
    print(f"Missing dependency: {e}")
    print("Install with: pip install pyinstaller pybullet")
    sys.exit(1)

# Check for pymavlink (optional for ArduPilot builds)
try:
    from pymavlink import mavutil
    PYMAVLINK_AVAILABLE = True
except ImportError:
    PYMAVLINK_AVAILABLE = False


def get_pybullet_data_path() -> str:
    return pybullet_data.getDataPath()


def build_executable(
    source_name: str,
    output_name: str,
    console: bool = True,
    hidden_imports: list = None,
    collect_data: list = None
):
    """Build a single executable."""
    script_dir = Path(__file__).parent
    source_file = script_dir / source_name
    
    if not source_file.exists():
        print(f"Error: {source_file} not found!")
        return False
    
    print(f"\nBuilding: {source_name} -> {output_name}")
    print("-" * 40)
    
    system = platform.system().lower()
    pybullet_path = get_pybullet_data_path()
    
    if system == 'windows':
        separator = ';'
    else:
        separator = ':'
    
    data_spec = f"{pybullet_path}{separator}pybullet_data"
    
    build_args = [
        str(source_file),
        '--onefile',
        '--clean',
        f'--name={output_name}',
        f'--add-data={data_spec}',
    ]
    
    # Add hidden imports if specified
    if hidden_imports:
        for imp in hidden_imports:
            build_args.append(f'--hidden-import={imp}')
    
    # Add data collection for packages
    if collect_data:
        for pkg in collect_data:
            build_args.append(f'--collect-data={pkg}')
    
    if console:
        build_args.append('--console')
    else:
        if system in ['windows', 'darwin']:
            build_args.append('--windowed')
        else:
            build_args.append('--console')
    
    try:
        PyInstaller.__main__.run(build_args)
        
        dist_dir = script_dir / "dist"
        if system == 'windows':
            exe_path = dist_dir / f"{output_name}.exe"
        elif system == 'darwin' and not console:
            exe_path = dist_dir / f"{output_name}.app"
        else:
            exe_path = dist_dir / output_name
        
        print(f"  Created: {exe_path}")
        return True
        
    except Exception as e:
        print(f"  Build failed: {e}")
        return False


def main():
    parser = argparse.ArgumentParser(description='Build simulation executables')
    parser.add_argument(
        'target',
        nargs='?',
        default='standalone',
        choices=['standalone', 'simulation_host', 'ardupilot', 'mavlink_bridge', 'camera_viewer', 'all'],
        help='What to build (default: standalone)'
    )
    args = parser.parse_args()
    
    print("=" * 60)
    print("  DRONE SIMULATION - BUILD EXECUTABLES")
    print("=" * 60)
    print(f"Platform: {platform.system()}")
    print(f"PyBullet data: {get_pybullet_data_path()}")
    print(f"pymavlink: {'Available' if PYMAVLINK_AVAILABLE else 'Not installed'}")
    
    success = True
    
    # Build standalone simulation
    if args.target in ['standalone', 'all']:
        success &= build_executable(
            'standalone_simulation.py',
            'drone_simulation',
            console=False
        )
    
    # Build simulation host
    if args.target in ['simulation_host', 'all']:
        success &= build_executable(
            'simulation_host.py',
            'simulation_host',
            console=True
        )
    
    # Build MAVLink bridge (requires pymavlink)
    if args.target in ['mavlink_bridge', 'all']:
        if not PYMAVLINK_AVAILABLE:
            print("\nWarning: pymavlink not installed, skipping mavlink_bridge build")
            print("Install with: pip install pymavlink")
            if args.target == 'mavlink_bridge':
                success = False
        else:
            success &= build_executable(
                'mavlink_bridge.py',
                'mavlink_bridge',
                console=True,
                hidden_imports=[
                    'pymavlink',
                    'pymavlink.mavutil',
                    'pymavlink.dialects.v20.ardupilotmega',
                ],
                collect_data=['pymavlink']
            )
    
    # Build ArduPilot runner (requires pymavlink)
    if args.target in ['ardupilot', 'all']:
        if not PYMAVLINK_AVAILABLE:
            print("\nWarning: pymavlink not installed, skipping ardupilot build")
            print("Install with: pip install pymavlink")
            if args.target == 'ardupilot':
                success = False
        else:
            success &= build_executable(
                'run_ardupilot.py',
                'run_ardupilot',
                console=True,
                hidden_imports=[
                    'pymavlink',
                    'pymavlink.mavutil',
                    'pymavlink.dialects.v20.ardupilotmega',
                    'mavlink_bridge',
                    'drone_controller',
                    'rover_controller',
                ],
                collect_data=['pymavlink']
            )
    
    # Build camera viewer (requires opencv)
    if args.target in ['camera_viewer', 'all']:
        try:
            import cv2
            success &= build_executable(
                'camera_viewer.py',
                'camera_viewer',
                console=True,
                hidden_imports=[
                    'cv2',
                    'numpy',
                ],
                collect_data=['cv2']
            )
        except ImportError:
            print("\nWarning: opencv-python not installed, skipping camera_viewer build")
            print("Install with: pip install opencv-python")
            if args.target == 'camera_viewer':
                success = False
    
    print()
    print("=" * 60)
    if success:
        print("  BUILD COMPLETE!")
        print("  Executables in: dist/")
        print()
        print("  Available executables:")
        dist_dir = Path(__file__).parent / "dist"
        if dist_dir.exists():
            for exe in dist_dir.iterdir():
                if exe.is_file() and not exe.name.startswith('.'):
                    print(f"    - {exe.name}")
    else:
        print("  BUILD FAILED!")
        sys.exit(1)
    print("=" * 60)


if __name__ == '__main__':
    main()