from setuptools import find_packages, setup
import os
from glob import glob

package_name = 'arm_application'


def _existing(paths):
    """只保留真实存在的常规文件。

    必需：colcon 的 ``build/<pkg>/`` 里放着指向源文件的符号链接，
    源文件被挪走或删掉之后这些链接就断了。``glob`` / ``os.walk`` 仍会把它们
    列出来，随后 copy 会报 "doesn't exist or not a regular file"，
    **整个包构建失败**，而报错信息指向 build/ 下的一个幽灵文件，很难查。
    这里统一过滤掉。
    """
    out = []
    for p in paths:
        if os.path.isfile(p):  # 会跟随符号链接，断链返回 False
            out.append(p)
    return out


def _data_files():
    entries = [
        ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
        ('share/' + package_name, ['package.xml']),
        (os.path.join('share', package_name, 'launch'), _existing(glob('launch/*.py'))),
        (os.path.join('share', package_name, 'trajectories'), _existing(glob('trajectories/*'))),
    ]
    for root, _dirs, files in os.walk('config'):
        srcs = _existing([os.path.join(root, name) for name in files])
        if not srcs:
            continue
        dest = os.path.join('share', package_name, root)
        entries.append((dest, srcs))
    return entries


setup(
    name=package_name,
    version='0.1.0',
    packages=find_packages(exclude=['test']),
    data_files=_data_files(),
    install_requires=['setuptools'],
    zip_safe=True,
    maintainer='arm_dev',
    maintainer_email='dev@example.com',
    description='High-level arm application nodes.',
    license='Apache-2.0',
    entry_points={
        'console_scripts': [
            # Bringup helpers
            'demo_named_poses = arm_application.demo_named_poses:main',
            'move_to_pose_client = arm_application.move_to_pose_client:main',
            'run_joint_trajectory = arm_application.run_joint_trajectory:main',
            'goto_ee_plane = arm_application.goto_ee_plane:main',
            # 相机
            'realsense_color_pub = arm_application.realsense_color_pub:main',
            'realsense_view = arm_application.realsense_view:main',
            # 手眼标定
            'handeye_teach = arm_application.handeye_teach:main',
            'handeye_waypoints = arm_application.handeye_waypoints:main',
            'handeye_calibrate = arm_application.handeye_calibrate:main',
            # 视觉伺服（当前主链路）
            'perception_node = arm_application.perception_node:main',
            'servo_node = arm_application.servo_node:main',
            # 夹爪
            'dh_pgea = arm_application.dh_pgea_node:main',
            'dh_pgea_cli = arm_application.dh_pgea:main',
            'dual_gripper = arm_application.dual_gripper_node:main',
            'dual_gripper_cli = arm_application.dual_gripper_cli:main',
            # 入孔检测（只检测，不做插入动作）
            'hole_detect = arm_application.hole_detect_node:main',
            # 第二阶段：一次性孔定位（k1/k2）+ 对规
            'stage2_locate = arm_application.stage2_locate_node:main',
            # 第三阶段：柔顺找孔（Orisys 触觉螺旋 + 插入）
            'stage3_search = arm_application.stage3_search_node:main',
            # 三段式装配流水线（跟踪 → 定位 → 找孔，单进程）
            'assembly_pipeline = arm_application.pipeline_node:main',
            # 通止规装配（看板 S00–S11，含自检/换孔/掉件重放）
            'gauge_assembly = arm_application.gauge_assembly_node:main',
            'tactile = arm_application.tactile_node:main',
            'tactile_cli = arm_application.tactile_cli:main',
        ],
    },
)