import os
from launch_ros.actions import Node
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch_ros.substitutions import FindPackageShare
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
from launch.conditions import IfCondition, UnlessCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory


def generate_launch_description():
    declared_arguments = []
    declared_arguments.append(
        DeclareLaunchArgument("sim_gazebo",
                              default_value="false",
                              description="Gazebo Simulation")
    )
    declared_arguments.append(
         DeclareLaunchArgument("rbs_robot_type",
                              description="Type of robot by name",
                              choices=["rbs_arm" ,"ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
                              default_value="rbs_arm",)
    )
    declared_arguments.append(
        DeclareLaunchArgument("gazebo_gui",
                              default_value="true",
                              description="Launch gazebo_gui?")
    )
    declared_arguments.append(
        DeclareLaunchArgument("debugger",
                              default_value="false",
                              description="launch Gazebo with debugger?")
    )
    declared_arguments.append(
        DeclareLaunchArgument("vision_bridge",
                              default_value="false",
                              description="Create bridge for rgbd cameras")
    )
    
    sim_gazebo = LaunchConfiguration("sim_gazebo")
    rbs_robot_type = LaunchConfiguration("rbs_robot_type")
    gazebo_gui = LaunchConfiguration("gazebo_gui")
    debugger = LaunchConfiguration("debugger")
    vision_bridge = LaunchConfiguration("vision_bridge") 

    # FIXME: To args when we'll have different files
    # TODO: Use global variable to find world file in robossembler_db
    world_config_file = PathJoinSubstitution(
        [FindPackageShare("rbs_simulation"), "worlds", "asm2.sdf"]
    )
    # Gazebo nodes

    gazebo_server = IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                [os.path.join(get_package_share_directory('ros_gz_sim'),
                            'launch', 'gz_sim.launch.py')]),
            launch_arguments={
                'gz_args': [' -r ',world_config_file, " -s"],
                "debugger": debugger,
            }.items(),
            condition=UnlessCondition(gazebo_gui))
    
    gazebo = IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                [os.path.join(get_package_share_directory('ros_gz_sim'),
                            'launch', 'gz_sim.launch.py')]),
            launch_arguments={
                'gz_args': [' -r ',world_config_file],
                "debugger": debugger,
            }.items(),
            condition=IfCondition(gazebo_gui))
    
    # Spawn robot
    gazebo_spawn_robot = Node(
        package='ros_gz_sim',
        executable='create',
        arguments=[
            '-name', rbs_robot_type,
            '-x', '0.0',
            '-z', '0.0',
            '-y', '0.0',
            '-topic', '/robot_description'],
        output='screen',
        condition=IfCondition(sim_gazebo))

    # Bridge
    rgbd_bridge_out = Node(
        package='ros_gz_bridge',
        executable='parameter_bridge',
        arguments=[
            '/outer_rgbd_camera/image@sensor_msgs/msg/Image@gz.msgs.Image',
            '/outer_rgbd_camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo',
            '/outer_rgbd_camera/depth_image@sensor_msgs/msg/Image@gz.msgs.Image',
            '/outer_rgbd_camera/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked'
        ],
        output='screen',
        condition=IfCondition(sim_gazebo) and IfCondition(vision_bridge))
    
    rgbd_bridge_in = Node(
        package='ros_gz_bridge',
        executable='parameter_bridge',
        arguments=[
            '/inner_rgbd_camera/image@sensor_msgs/msg/Image@gz.msgs.Image',
            '/inner_rgbd_camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo',
            '/inner_rgbd_camera/depth_image@sensor_msgs/msg/Image@gz.msgs.Image',
            '/inner_rgbd_camera/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked'
        ],
        output='screen',
        condition=IfCondition(sim_gazebo) and IfCondition(vision_bridge))
    
    clock_bridge = Node(
        package='ros_gz_bridge',
        executable='parameter_bridge',
        arguments=['/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock'],
        output='screen',
        condition=IfCondition(sim_gazebo))

    nodes_to_start = [
        gazebo,
        gazebo_server,
        gazebo_spawn_robot,
        rgbd_bridge_out,
        rgbd_bridge_in,
        clock_bridge,
    ]
    return LaunchDescription(declared_arguments + nodes_to_start)