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,
    TimerAction,
)
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import 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
    with_gripper_condition = LaunchConfiguration("with_gripper")
    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_simulation = LaunchConfiguration("launch_sim")
    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")
    sim_gazebo = LaunchConfiguration("sim_gazebo")
    hardware = LaunchConfiguration("hardware")
    env_manager = LaunchConfiguration("env_manager")
    gazebo_gui = LaunchConfiguration("gazebo_gui")
    gripper_name = LaunchConfiguration("gripper_name")

    initial_joint_controllers_file_path = os.path.join(
        get_package_share_directory("rbs_arm"), "config", "rbs_arm0_controllers.yaml"
    )

    xacro_file = os.path.join(
        get_package_share_directory(description_package.perform(context)),
        "urdf",
        description_file.perform(context),
    )

    robot_description_doc = xacro.process_file(
        xacro_file,
        mappings={
            "gripper_name": gripper_name.perform(context),
            "hardware": hardware.perform(context),
            "simulation_controllers": initial_joint_controllers_file_path,
            "namespace": "",
        },
    )

    robot_description_content = robot_description_doc.toprettyxml(indent="  ")
    robot_description = {"robot_description": robot_description_content}

    single_robot_setup = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            [
                PathJoinSubstitution(
                    [FindPackageShare("rbs_bringup"), "launch", "rbs_robot.launch.py"]
                )
            ]
        ),
        launch_arguments={
            "env_manager": env_manager,
            "with_gripper": with_gripper_condition,
            "gripper_name": gripper_name,
            "controllers_file": initial_joint_controllers_file_path,
            "robot_type": robot_type,
            # "controllers_file": controller_paramfile,
            "cartesian_controllers": cartesian_controllers,
            "description_package": description_package,
            "description_file": description_file,
            "robot_name": robot_type,
            "start_joint_controller": start_joint_controller,
            "initial_joint_controller": initial_joint_controller,
            "launch_simulation": launch_simulation,
            "launch_moveit": launch_moveit,
            "launch_task_planner": launch_task_planner,
            "launch_perception": launch_perception,
            "moveit_config_package": moveit_config_package,
            "moveit_config_file": moveit_config_file,
            "use_sim_time": use_sim_time,
            "sim_gazebo": sim_gazebo,
            "hardware": hardware,
            "launch_controllers": "true",
            "gazebo_gui": gazebo_gui,
            "robot_description": robot_description_content,
        }.items(),
    )

    rbs_runtime = Node(
        package="rbs_runtime",
        executable="runtime.py",
        parameters=[robot_description, {"use_sim_time": True}],
    )

    clock_bridge = Node(
        package="ros_gz_bridge",
        executable="parameter_bridge",
        arguments=["/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock"],
        output="screen",
    )

    delay_robot_control_stack = TimerAction(period=10.0, actions=[single_robot_setup])

    nodes_to_start = [rbs_runtime, clock_bridge, 
                      delay_robot_control_stack
                      ]
    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="Name for robot, used to apply namespace for specific robot in multirobot setup",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "start_joint_controller",
            default_value="false",
            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="rbs_gripper",
            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(
            "sim_gazebo", default_value="true", description="Gazebo Simulation"
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "env_manager", default_value="true", description="Launch env_manager?"
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "launch_sim",
            default_value="true",
            description="Launch simulator (Gazebo)?\
                              Most general arg",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "launch_moveit", default_value="false", 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="true",
            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="true", description="Launch gazebo with gui?"
        )
    )

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