import os
from launch import LaunchDescription, LaunchContext
from launch.actions import (
    DeclareLaunchArgument,
    IncludeLaunchDescription,
    ExecuteProcess,
    OpaqueFunction
)
from ament_index_python.packages import get_package_share_directory
from launch.conditions import IfCondition, UnlessCondition
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
from rbs_launch_utils.launch_common import load_yaml


def generate_launch_description():
    
    declared_arguments = []

    declared_arguments.append(
        DeclareLaunchArgument(
            "robot_description",
            default_value="",
            description="robot description string",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument("robot_description_semantic", default_value="")
    )
    declared_arguments.append(
        DeclareLaunchArgument("robot_description_kinematics", default_value="")
    )
    declared_arguments.append(
        DeclareLaunchArgument("use_sim_time", default_value="")
    )
    declared_arguments.append(
        DeclareLaunchArgument("with_gripper_condition", default_value="")
    )
    declared_arguments.append(
        DeclareLaunchArgument("points_params_filepath", default_value="")
    )

    robot_description_decl = LaunchConfiguration("robot_description")
    robot_description_semantic_decl = LaunchConfiguration("robot_description_semantic")
    robot_description_kinematics = LaunchConfiguration("robot_description_kinematics")
    use_sim_time = LaunchConfiguration("use_sim_time")
    with_gripper_condition = LaunchConfiguration("with_gripper_condition")
    points_params_filepath_decl = LaunchConfiguration("points_params_filepath")
    robot_description = {"robot_description": robot_description_decl}
    robot_description_semantic = {"robot_description_semantic": robot_description_semantic_decl}

    points_params = load_yaml(
        "rbs_skill_servers", "config/gripperPositions.yaml"
    )

    move_topose_action_server = Node(
        package="rbs_skill_servers",
        executable="move_topose_action_server",
        parameters=[
            robot_description,
            robot_description_semantic,
            robot_description_kinematics,
            {"use_sim_time": use_sim_time},
        ]
    )

    gripper_control_node = Node(
        package="rbs_skill_servers",
        executable="gripper_control_action_server",
        parameters= [
            robot_description,
            robot_description_semantic,
            robot_description_kinematics,
            {"use_sim_time": use_sim_time},
        ],
        condition=IfCondition(with_gripper_condition)
    )

    move_cartesian_path_action_server = Node(
        package="rbs_skill_servers",
        executable="move_cartesian_path_action_server",
        parameters=[
            robot_description,
            robot_description_semantic,
            robot_description_kinematics,
            {"use_sim_time": use_sim_time},
        ]
    )
    
    move_joint_state_action_server = Node(
        package="rbs_skill_servers",
        executable="move_to_joint_states_action_server",
        parameters=[
            robot_description,
            robot_description_semantic,
            robot_description_kinematics,
            {"use_sim_time": use_sim_time},
        ]
    )
        
    grasp_pose_loader = Node(
        package="rbs_skill_servers",
        executable="pick_place_pose_loader_service_server",
        output="screen"
    )

    nodes_to_start =[
        move_topose_action_server,
        gripper_control_node,
        move_cartesian_path_action_server,
        move_joint_state_action_server,
        grasp_pose_loader
    ]

    return LaunchDescription(declared_arguments + nodes_to_start)