import os

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


def launch_setup(context, *args, **kwargs):
    robot_type = LaunchConfiguration("robot_type")
    with_gripper_condition = LaunchConfiguration("with_gripper")
    controllers_file = LaunchConfiguration("controllers_file")
    description_package = LaunchConfiguration("description_package")
    description_file = LaunchConfiguration("description_file")
    robot_name = LaunchConfiguration("robot_name")
    use_moveit = LaunchConfiguration("use_moveit")
    moveit_config_package = LaunchConfiguration("moveit_config_package")
    moveit_config_file = LaunchConfiguration("moveit_config_file")
    use_sim_time = LaunchConfiguration("use_sim_time")
    hardware = LaunchConfiguration("hardware")
    use_controllers = LaunchConfiguration("use_controllers")
    gripper_name = LaunchConfiguration("gripper_name")
    x_pos = LaunchConfiguration("x")
    y_pos = LaunchConfiguration("y")
    z_pos = LaunchConfiguration("z")
    roll = LaunchConfiguration("roll")
    pitch = LaunchConfiguration("pitch")
    yaw = LaunchConfiguration("yaw")
    namespace = LaunchConfiguration("namespace")
    multi_robot = LaunchConfiguration("multi_robot")
    robot_name = robot_name.perform(context)
    namespace = namespace.perform(context)
    robot_type = robot_type.perform(context)
    description_package = description_package.perform(context)
    description_file = description_file.perform(context)
    controllers_file = controllers_file.perform(context)
    multi_robot = multi_robot.perform(context)
    robot_description = LaunchConfiguration("robot_description")
    robot_description_semantic = LaunchConfiguration("robot_description_semantic")
    control_space = LaunchConfiguration("control_space")
    control_strategy = LaunchConfiguration("control_strategy")

    remappings = []
    if multi_robot == "true":
        remappings.append([("/tf", "tf"), ("/tf_static", "tf_static")])

    controllers_file = os.path.join(
        get_package_share_directory(description_package), "config", controllers_file
    )

    if not robot_description.perform(context):
        xacro_file = os.path.join(
            get_package_share_directory(description_package), "urdf", description_file
        )
        robot_description_doc = xacro.process_file(
            xacro_file,
            mappings={
                "gripper_name": gripper_name.perform(context),
                "hardware": hardware.perform(context),
                "simulation_controllers": controllers_file,
                "namespace": namespace,
                "x": x_pos.perform(context),
                "y": y_pos.perform(context),
                "z": z_pos.perform(context),
                "roll": roll.perform(context),
                "pitch": pitch.perform(context),
                "yaw": yaw.perform(context),
            },
        )

        robot_description_content = robot_description_doc.toprettyxml(indent="  ")
    else:
        robot_description_content = robot_description.perform(context)

    robot_description = {"robot_description": robot_description_content}

    if not robot_description_semantic.perform(context):
        robot_description_semantic_content = Command(
            [
                PathJoinSubstitution([FindExecutable(name="xacro")]),
                " ",
                PathJoinSubstitution(
                    [
                        FindPackageShare(moveit_config_package),
                        "config/moveit",
                        "rbs_arm.srdf.xacro",
                    ]
                ),
                " ",
                "name:=",
                robot_type,
                " ",
                "with_gripper:=",
                with_gripper_condition,
                " ",
                "gripper_name:=",
                gripper_name,
                " ",
            ]
        )
    else:
        robot_description_semantic_content = robot_description_semantic

    robot_description_semantic = {
        "robot_description_semantic": robot_description_semantic_content
    }

    robot_description_kinematics = PathJoinSubstitution(
        [FindPackageShare(moveit_config_package), "config", "kinematics.yaml"]
    )

    robot_description_kinematics = {
        "robot_description_kinematics": robot_description_kinematics
    }

    robot_state_publisher = Node(
        package="robot_state_publisher",
        executable="robot_state_publisher",
        namespace=namespace,
        output="both",
        remappings=remappings,
        parameters=[{"use_sim_time": use_sim_time}, robot_description],
    )

    control = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            [
                PathJoinSubstitution(
                    [
                        FindPackageShare(description_package),
                        "launch",
                        "control.launch.py",
                    ]
                )
            ]
        ),
        launch_arguments={
            "control_space": control_space,
            "control_strategy": control_strategy,
            "has_gripper": with_gripper_condition,
            "namespace": namespace,
        }.items(),
        condition=IfCondition(use_controllers),
    )

    moveit = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            [
                PathJoinSubstitution(
                    [
                        FindPackageShare(moveit_config_package),
                        "launch",
                        "moveit.launch.py",
                    ]
                )
            ]
        ),
        launch_arguments={
            "robot_description": robot_description_content,
            "moveit_config_package": moveit_config_package,
            "moveit_config_file": moveit_config_file,
            "use_sim_time": use_sim_time,
            "tf_prefix": robot_name,
            "with_gripper": with_gripper_condition,
            "robot_description_semantic": robot_description_semantic_content,
            "namespace": namespace,
        }.items(),
        condition=IfCondition(use_moveit),
    )

    skills = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            [
                PathJoinSubstitution(
                    [
                        FindPackageShare("rbs_skill_servers"),
                        "launch",
                        "skills.launch.py",
                    ]
                )
            ]
        ),
        launch_arguments={
            "robot_description": robot_description_content,
            "robot_description_semantic": robot_description_semantic_content,
            "robot_description_kinematics": robot_description_kinematics,
            "use_sim_time": use_sim_time,
            "with_gripper_condition": with_gripper_condition,
            "namespace": namespace,
            "use_moveit": use_moveit,
        }.items(),
    )

    nodes_to_start = [
        robot_state_publisher,
        control,
        moveit,
        skills,
    ]
    return nodes_to_start


def generate_launch_description():
    declared_arguments = []

    declared_arguments.append(
        DeclareLaunchArgument(
            "robot_type",
            description="Type of robot to launch, specified by name.",
            choices=["rbs_arm", "ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
            default_value="rbs_arm",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "controllers_file",
            default_value="rbs_arm0_controllers.yaml",
            description="YAML file containing configuration settings for the controllers.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "description_package",
            default_value="rbs_arm",
            description="Package containing the robot's URDF/XACRO description files. Can be set to use a custom description.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "description_file",
            default_value="rbs_arm_modular.xacro",
            description="URDF/XACRO file describing the robot's model.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "robot_name",
            default_value="arm0",
            description="Prefix for joint names to support multi-robot setups. If changed, ensure joint names in controllers configuration are updated accordingly.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "moveit_config_package",
            default_value="rbs_arm",
            description="Package containing the MoveIt configuration files (SRDF/XACRO) for the robot. Can be customized.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "moveit_config_file",
            default_value="rbs_arm.srdf.xacro",
            description="MoveIt SRDF/XACRO file for robot configuration.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "use_sim_time",
            default_value="true",
            description="Enables simulation time in MoveIt, needed for trajectory planning in simulation.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "gripper_name",
            default_value="",
            choices=["rbs_gripper", ""],
            description="Specify gripper name (leave empty if none).",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "with_gripper",
            default_value="true",
            description="Specify if the robot includes a gripper.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "use_moveit",
            default_value="true",
            description="Specify if MoveIt should be launched.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "hardware",
            choices=["gazebo", "mock"],
            default_value="gazebo",
            description="Specify the hardware interface to use (e.g., Gazebo or mock).",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "use_controllers",
            default_value="true",
            description="Specify if controllers should be launched.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "namespace",
            default_value="",
            description="ROS 2 namespace for the robot.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "x",
            default_value="0.0",
            description="X-coordinate for the robot's position in the world.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "y",
            default_value="0.0",
            description="Y-coordinate for the robot's position in the world.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "z",
            default_value="0.0",
            description="Z-coordinate for the robot's position in the world.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "roll",
            default_value="0.0",
            description="Roll orientation of the robot in the world.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "pitch",
            default_value="0.0",
            description="Pitch orientation of the robot in the world.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "yaw",
            default_value="0.0",
            description="Yaw orientation of the robot in the world.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "multi_robot",
            default_value="false",
            description="Specify if the setup is for multiple robots.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "robot_description",
            default_value="",
            description="Custom robot description that overrides the internal default.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "control_space",
            default_value="task",
            choices=["task", "joint"],
            description="Specify the control space for the robot (e.g., task space).",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "control_strategy",
            default_value="position",
            choices=["position", "velocity", "effort"],
            description="Specify the control strategy (e.g., position control).",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "robot_description_semantic",
            default_value="",
            description="Custom semantic robot description (SRDF) to override the default.",
        )
    )

    return LaunchDescription(
        declared_arguments + [OpaqueFunction(function=launch_setup)]
    )