import os
import yaml

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare

from ament_index_python import get_package_share_directory


def load_yaml(package_name: str, file_path: str):
    package_path = get_package_share_directory(package_name)
    absolute_file_path = os.path.join(package_path, file_path)

    try:
        with open(absolute_file_path, "r") as f:
            return yaml.safe_load(f)
    except EnvironmentError:
        return None


def load_file(package_name: str, file_path: str) -> str:
    package_path = get_package_share_directory(package_name)
    absolut_file_path = os.path.join(package_path, file_path)

    try:
        with open(absolut_file_path, "r") as f:
            return f.read()
    except EnvironmentError:
        return None


def generate_launch_description():

    #=============
    #================================================================= Start initialize launch args ==========================================================
    #=============

    # Launch arguments
    launch_args = []

    launch_args.append(
        DeclareLaunchArgument(
            name="robot_description",
            description="Robot description XML file."
        )
    )

    launch_args.append(DeclareLaunchArgument(
        name="sim",
        default_value="true",
        description="Launch robot in simulation or on real setup."
    ))

    #=============
    #================================================================= Start launching nodes ==========================================================
    #=============

        # Configure robot_description
    robot_description = {"robot_description": LaunchConfiguration("robot_description")}

    # Robot semantics SRDF
    robot_description_semantic = {
        "robot_description_semantic": load_file("rasms_moveit_config", "srdf/rasms_description.srdf")
    }

    # Kinematics
    kinematics_yaml = load_yaml("rasms_moveit_config", "config/kinematics.yml")
    
    # Update group name
    kinematics_yaml["rasms_description_arm"] = kinematics_yaml["group_name"]
    del kinematics_yaml["group_name"]

    # Joint limits
    robot_description_planning = {
        "robot_description_planning": PathJoinSubstitution(
            [
                FindPackageShare("rasms_moveit_config"),
                "config/joint_limits.yml"
            ]
        )
    }

    # Planning
    #ompl_yaml = load_yaml("rasms_moveit_config", "config/ompl_planning.yml")

    planning = {
        "move_group": {
            "planning_plugin": "ompl_interface/OMPLPlanner",
            "request_adapters": "default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints",
            "start_state_max_bounds_error": 0.1
        }
    }

    # Trajectory execution
    trajectory_execution = {"allow_trajectory_execution": True,
                            "moveit_manage_controllers": True}

    # Controllers
    moveit_simple_controller_yml = load_yaml(
        "rasms_moveit_config",
        "config/rasms_moveit_controllers.yml"
    )

    moveit_controllers = {"moveit_simple_controller_manager": moveit_simple_controller_yml,
                          "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager"}

    ompl_planning_pipeline_config = {
        "ompl": {
            "planning_plugin": "ompl_interface/OMPLPlanner",
            "request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
            "start_state_max_bounds_error": 0.1,
        }
    }
    ompl_planning_yml = load_yaml(
        "rasms_moveit_config", "config/ompl_planning.yml"
    )
    ompl_planning_pipeline_config["ompl"].update(ompl_planning_yml)
    # Planning scene
    planning_scene_monitor_parameters = {"publish_planning_scene": True,
                                         "publish_geometry_updates": True,
                                         "publish_state_updates": True,
                                         "publish_transforms_updates": True}

    moveit_cpp_yaml_file_name = (
        get_package_share_directory("rasms_moveit_config") + "/config/moveit_cpp.yml"
    )

    # Time configuration
    use_sim_time = {"use_sime_time": LaunchConfiguration("sim")}

    # Simple move_group interface
    move_group_node = Node(
        package="moveit_ros_move_group",
        executable="move_group",
        output="screen",
        arguments=["--ros-args"],
        parameters=[
            robot_description,
            robot_description_semantic,
            kinematics_yaml,
            robot_description_planning,
            ompl_planning_pipeline_config,
            planning,
            trajectory_execution,
            moveit_controllers,
            planning_scene_monitor_parameters,
            use_sim_time
        ]
    )
    # Node for test moveit_cpp interface
    moveit_cpp_node = Node(
        name="moveit_cpp_actions",
        package="rasms_moveit_actions",
        executable="rasms_moveit",
        output="screen",
        parameters=[
            moveit_cpp_yaml_file_name,
            robot_description,
            robot_description_semantic,
            kinematics_yaml,
            ompl_planning_pipeline_config,
            moveit_controllers,
        ],
    )

    # RViz
    rviz_config = PathJoinSubstitution([FindPackageShare("rasms_moveit_config"), "config/rasms.rviz"])

    rviz = Node(
        package="rviz2",
        executable="rviz2",
        parameters=[
            robot_description,
            robot_description_semantic,
            use_sim_time,
            kinematics_yaml
        ],
        arguments=[
            '-d', rviz_config
        ]
    )

    launch_nodes = []
    launch_nodes.append(rviz)
    launch_nodes.append(move_group_node)
    #launch_nodes.append(moveit_cpp_node)


    return LaunchDescription(
        launch_args +
        launch_nodes
    )