import os
from launch import LaunchDescription
from launch.actions import (
    DeclareLaunchArgument,
    IncludeLaunchDescription,
    OpaqueFunction,
    RegisterEventHandler,
)
from ament_index_python.packages import get_package_share_directory, get_package_share_path
from launch.conditions import IfCondition, UnlessCondition
from launch.event_handlers import OnProcessExit
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 ur_moveit_config.launch_common import load_yaml


def generate_launch_description():
    declared_arguments = []
    # UR specific arguments
    declared_arguments.append(
        DeclareLaunchArgument(
            "rbs_robot_type",
            description="Type of robot by name",
            choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
            default_value="ur5e",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "safety_limits",
            default_value="true",
            description="Enables the safety limits controller if true.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "safety_pos_margin",
            default_value="0.15",
            description="The margin to lower and upper limits in the safety controller.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "safety_k_position",
            default_value="20",
            description="k-position factor in the safety controller.",
        )
    )
    # General arguments
    declared_arguments.append(
        DeclareLaunchArgument(
            "runtime_config_package",
            default_value="ur_moveit_config",
            description='Package with the controller\'s configuration in "config" folder. \
        Usually the argument is not set, it enables use of a custom setup.',
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "controllers_file",
            default_value="ur_controllers.yaml",
            description="YAML file with the controllers configuration.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "description_package",
            default_value="ur_description",
            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="ur.urdf.xacro",
            description="URDF/XACRO description file with the robot.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "prefix",
            default_value='""',
            description="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="ur_moveit_config",
            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="ur.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("launch_rviz", default_value="true", description="Launch RViz?")
    )

    # Initialize Arguments
    # TODO тут всё переименовать и сделать боеле универсальным как под нашего робото так и под UR чтобы запускалось одинаково
    rbs_robot_type = LaunchConfiguration("rbs_robot_type")
    safety_limits = LaunchConfiguration("safety_limits")
    safety_pos_margin = LaunchConfiguration("safety_pos_margin")
    safety_k_position = LaunchConfiguration("safety_k_position")
    # General arguments
    runtime_config_package = LaunchConfiguration("runtime_config_package")
    controllers_file = LaunchConfiguration("controllers_file")
    description_package = LaunchConfiguration("description_package")
    description_file = LaunchConfiguration("description_file")
    prefix = LaunchConfiguration("prefix")
    start_joint_controller = LaunchConfiguration("start_joint_controller")
    initial_joint_controller = LaunchConfiguration("initial_joint_controller")
    launch_rviz = LaunchConfiguration("launch_rviz")
    moveit_config_package = LaunchConfiguration("moveit_config_package")
    moveit_config_file = LaunchConfiguration("moveit_config_file")
    use_sim_time = LaunchConfiguration("use_sim_time")

    initial_joint_controllers = PathJoinSubstitution(
        [FindPackageShare(runtime_config_package), "config", controllers_file]
    )

    rviz_config_file = PathJoinSubstitution(
        [FindPackageShare(moveit_config_package), "rviz", "view_robot.rviz"]
    )

    world_config_file = PathJoinSubstitution(
        [FindPackageShare("sdf_models"), "worlds", "empty_world.sdf"] # TODO тут пакет извне должен задаваться
    )

    print(world_config_file)
    robot_description_content = Command(
        [
            PathJoinSubstitution([FindExecutable(name="xacro")]),
            " ",
            PathJoinSubstitution(
                [FindPackageShare(description_package), "urdf", description_file]
            ),
            " ",
            "safety_limits:=",
            safety_limits,
            " ",
            "safety_pos_margin:=",
            safety_pos_margin,
            " ",
            "safety_k_position:=",
            safety_k_position,
            " ",
            "name:=",
            "ur",
            " ",
            "ur_type:=", # TODO сделать более универсальным
            rbs_robot_type,
            " ",
            "prefix:=",
            prefix,
            " ",
            "sim_ignition:=true",
            " ",
            "simulation_controllers:=",
            initial_joint_controllers,
        ]
    )
    robot_description = {"robot_description": robot_description_content}

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

    joint_state_broadcaster_spawner = Node(
        package="controller_manager",
        executable="spawner",
        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
    )

    # There may be other controllers of the joints, but this is the initially-started one
    initial_joint_controller_spawner_started = Node(
        package="controller_manager",
        executable="spawner",
        arguments=[initial_joint_controller, "--controller-manager", "/controller_manager"],
        condition=IfCondition(start_joint_controller),
    )
    initial_joint_controller_spawner_stopped = Node(
        package="controller_manager",
        executable="spawner",
        arguments=[initial_joint_controller, "--controller-manager", "/controller_manager", "--stopped"],
        condition=UnlessCondition(start_joint_controller),
    )

    # Gazebo nodes
    gazebo = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(get_package_share_path('ros_ign_gazebo'), 'launch', 'ign_gazebo.launch.py')),
        launch_arguments={'ign_args': ['-r'," ", world_config_file]}.items(),
    )
    # Spawn robot
    gazebo_spawn_robot = Node(package='ros_ign_gazebo', executable='create',
                 arguments=[
                    '-name', rbs_robot_type,
                    '-x', '0.0',
                    '-z', '0.0',
                    '-y', '0.0',
                    '-topic', '/robot_description'],
                 output='screen')

    # MoveIt Configuration
    robot_description_semantic_content = Command(
        [
            PathJoinSubstitution([FindExecutable(name="xacro")]),
            " ",
            PathJoinSubstitution(
                [FindPackageShare(moveit_config_package), "srdf", moveit_config_file]
            ),
            " ",
            "name:=",
            "ur",
            " ",
            "prefix:=",
            prefix,
            " ",
        ]
    )
    robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content}

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

    # robot_description_planning = {
    # "robot_description_planning": load_yaml_abs(str(joint_limit_params.perform(context)))
    # }

    # Planning Configuration
    ompl_planning_pipeline_config = {
        "move_group": {
            "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_yaml = load_yaml("ur_moveit_config", "config/ompl_planning.yaml") # TODO сделать извне
    ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)

    # Trajectory Execution Configuration
    controllers_yaml = load_yaml("ur_moveit_config", "config/controllers.yaml")
    # the scaled_joint_trajectory_controller does not work on fake hardware
    change_controllers = True
    if change_controllers == "true":
        controllers_yaml["scaled_joint_trajectory_controller"]["default"] = False
        controllers_yaml["joint_trajectory_controller"]["default"] = True

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

    trajectory_execution = {
        "moveit_manage_controllers": True,
        "trajectory_execution.allowed_execution_duration_scaling": 1.2,
        "trajectory_execution.allowed_goal_duration_margin": 0.5,
        "trajectory_execution.allowed_start_tolerance": 0.01,
    }

    planning_scene_monitor_parameters = {
        "publish_planning_scene": True,
        "publish_geometry_updates": True,
        "publish_state_updates": True,
        "publish_transforms_updates": True,
    }

    # Start the actual move_group node/action server
    move_group_node = Node(
        package="moveit_ros_move_group",
        executable="move_group",
        output="screen",
        name="move_group",
        parameters=[
            robot_description,
            robot_description_semantic,
            robot_description_kinematics,
            # robot_description_planning,
            ompl_planning_pipeline_config,
            trajectory_execution,
            moveit_controllers,
            planning_scene_monitor_parameters,
            {"use_sim_time": use_sim_time},
        ],
    )

    rviz_node = Node(
        package="rviz2",
        executable="rviz2",
        name="rviz2",
        output="log",
        arguments=["-d", rviz_config_file],
        parameters=[
            robot_description,
            robot_description_semantic,
            ompl_planning_pipeline_config,
            robot_description_kinematics,
            # robot_description_planning,
        ],
        condition=IfCondition(launch_rviz),
    )

    move_topose_action_server = Node(
        package="rbs_skill_servers",
        executable="move_topose_action_server",
        name="move_to_pose_moveit",
        parameters=[
            robot_description,
            robot_description_semantic,
            robot_description_kinematics,
            # robot_description_planning,
            ompl_planning_pipeline_config,
            trajectory_execution,
            moveit_controllers,
            planning_scene_monitor_parameters,
            {"use_sim_time": use_sim_time},
        ]
    )

    move_cartesian_path_action_server = Node(
        package="rbs_skill_servers",
        executable="move_cartesian_path_action_server",
        name="move_cartesian_path_action_server",
        parameters=[
            robot_description,
            robot_description_semantic,
            robot_description_kinematics,
            # robot_description_planning,
            ompl_planning_pipeline_config,
            trajectory_execution,
            moveit_controllers,
            planning_scene_monitor_parameters,
            {"use_sim_time": use_sim_time},
        ]
    )

    nodes_to_start = [
        robot_state_publisher_node,
        joint_state_broadcaster_spawner,
        rviz_node,
        initial_joint_controller_spawner_stopped,
        initial_joint_controller_spawner_started,
        gazebo,
        gazebo_spawn_robot,
        move_group_node,
        move_topose_action_server,
        move_cartesian_path_action_server
    ]

    return LaunchDescription(declared_arguments + nodes_to_start)