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):
    # Initialize Arguments
    robot_type = LaunchConfiguration("robot_type")
    # General arguments
    launch_rviz = LaunchConfiguration("launch_rviz")
    with_gripper_condition = LaunchConfiguration("with_gripper")
    controllers_file = LaunchConfiguration("controllers_file")
    cartesian_controllers = LaunchConfiguration("cartesian_controllers")
    description_package = LaunchConfiguration("description_package")
    description_file = LaunchConfiguration("description_file")
    robot_name = LaunchConfiguration("robot_name")
    start_joint_controller = LaunchConfiguration("start_joint_controller")
    initial_joint_controller = LaunchConfiguration("initial_joint_controller")
    launch_moveit = LaunchConfiguration("launch_moveit")
    launch_task_planner = LaunchConfiguration("launch_task_planner")
    launch_perception = LaunchConfiguration("launch_perception")
    moveit_config_package = LaunchConfiguration("moveit_config_package")
    moveit_config_file = LaunchConfiguration("moveit_config_file")
    use_sim_time = LaunchConfiguration("use_sim_time")
    hardware = LaunchConfiguration("hardware")
    launch_controllers = LaunchConfiguration("launch_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")

    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 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}

    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,
            " ",
        ]
    )

    robot_description_semantic = {
        "robot_description_semantic": robot_description_semantic_content
    }
    robot_description_kinematics = PathJoinSubstitution(
        [FindPackageShare(moveit_config_package), "config", "kinematics.yaml"]
    )

    # kinematics_yaml = load_yaml("rbs_arm", "config/kinematics.yaml")

    robot_description_kinematics = {
        "robot_description_kinematics": robot_description_kinematics
    }
    rviz_config_file = PathJoinSubstitution(
        [FindPackageShare("rbs_bringup"), "config", "rbs.rviz"]
    )
    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],
    )

    rviz_config_file = PathJoinSubstitution(
        [FindPackageShare("rbs_bringup"), "config", "rbs.rviz"]
    )

    rviz = Node(
        package="rviz2",
        executable="rviz2",
        name="rviz2",
        output="log",
        namespace=namespace,
        arguments=["-d", rviz_config_file],
        parameters=[
            robot_description,
            robot_description_semantic,
            robot_description_kinematics,
            {"use_sim_time": use_sim_time},
        ],
        condition=IfCondition(launch_rviz),
    )

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

    task_planner = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            [
                PathJoinSubstitution(
                    [
                        FindPackageShare("rbs_task_planner"),
                        "launch",
                        "task_planner.launch.py",
                    ]
                )
            ]
        ),
        launch_arguments={
            # TBD
        }.items(),
        condition=IfCondition(launch_task_planner),
    )

    perception = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            [
                PathJoinSubstitution(
                    [
                        FindPackageShare("rbs_perception"),
                        "launch",
                        "perception.launch.py",
                    ]
                )
            ]
        ),
        launch_arguments={
            # TBD
        }.items(),
        condition=IfCondition(launch_perception),
    )

    asm_config = Node(
        package="rbs_utils",
        namespace=namespace,
        executable="assembly_config_service.py",
    )

    nodes_to_start = [
        robot_state_publisher,
        control,
        moveit,
        skills,
        asm_config,
        # task_planner,
        # perception,
        rviz,
    ]
    return nodes_to_start


def generate_launch_description():
    declared_arguments = []
    declared_arguments.append(
        DeclareLaunchArgument(
            "robot_type",
            description="Type of robot by name",
            choices=["rbs_arm", "ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
            default_value="rbs_arm",
        )
    )
    # General arguments
    declared_arguments.append(
        DeclareLaunchArgument(
            "controllers_file",
            default_value="rbs_arm0_controllers.yaml",
            description="YAML file with the controllers configuration.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "description_package",
            default_value="rbs_arm",
            description="Description package with robot URDF/XACRO files. Usually the argument \
        is not set, it enables use of a custom description.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "description_file",
            default_value="rbs_arm_modular.xacro",
            description="URDF/XACRO description file with the robot.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "robot_name",
            default_value="arm0",
            description="tf_prefix of the joint names, useful for \
        multi-robot setup. If changed than also joint names in the controllers' configuration \
        have to be updated.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "start_joint_controller",
            default_value="true",
            description="Enable headless mode for robot control",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "initial_joint_controller",
            default_value="joint_trajectory_controller",
            description="Robot controller to start.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "moveit_config_package",
            default_value="rbs_arm",
            description="MoveIt config package with robot SRDF/XACRO files. Usually the argument \
        is not set, it enables use of a custom moveit config.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "moveit_config_file",
            default_value="rbs_arm.srdf.xacro",
            description="MoveIt SRDF/XACRO description file with the robot.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "use_sim_time",
            default_value="true",
            description="Make MoveIt to use simulation time.\
            This is needed for the trajectory planing in simulation.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "gripper_name",
            default_value="",
            choices=["rbs_gripper", ""],
            description="choose gripper by name (leave empty if hasn't)",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "with_gripper", default_value="true", description="With gripper or not?"
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "launch_rviz", default_value="false", description="Launch RViz?"
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "sim_gazebo", default_value="true", description="Gazebo Simulation"
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "launch_sim",
            default_value="true",
            description="Launch simulator (Gazebo)?\
                              Most general arg",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "launch_moveit", default_value="true", description="Launch moveit?"
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "launch_perception", default_value="false", description="Launch perception?"
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "launch_task_planner",
            default_value="false",
            description="Launch task_planner?",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "cartesian_controllers",
            default_value="false",
            description="Load cartesian\
                              controllers?",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "hardware",
            choices=["gazebo", "mock"],
            default_value="gazebo",
            description="Choose your harware_interface",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "launch_controllers",
            default_value="true",
            description="Launch controllers?",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "gazebo_gui", default_value="false", description="Launch gazebo with gui?"
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "namespace", default_value="", description="The ROS2 namespace of a robot"
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "x", default_value="0.0", description="Position of robot in world by X"
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "y", default_value="0.0", description="Position of robot in world by Y"
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "z", default_value="0.0", description="Position of robot in world by Z"
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "roll", default_value="0.0", description="Position of robot in world by Z"
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "pitch", default_value="0.0", description="Position of robot in world by Z"
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "yaw", default_value="0.0", description="Position of robot in world by Z"
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "roll", default_value="0.0", description="Position of robot in world by Z"
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "pitch", default_value="0.0", description="Position of robot in world by Z"
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "yaw", default_value="0.0", description="Position of robot in world by Z"
        )
    )

    declared_arguments.append(
        DeclareLaunchArgument(
            "multi_robot",
            default_value="false",
            description="Flag if you use multi robot setup",
        )
    )

    declared_arguments.append(
        DeclareLaunchArgument(
            "robot_description",
            default_value="",
            description="Robot description that override internal robot desctioption",
        )
    )

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