import os

import xacro
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription, condition
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")
    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")
    use_sim_time = LaunchConfiguration("use_sim_time")
    use_controllers = LaunchConfiguration("use_controllers")
    use_skills = LaunchConfiguration("use_skills")
    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)
    multi_robot = multi_robot.perform(context)
    robot_description_content = LaunchConfiguration("robot_description")
    robot_description_semantic_content = LaunchConfiguration(
        "robot_description_semantic"
    )
    control_space = LaunchConfiguration("control_space")
    control_strategy = LaunchConfiguration("control_strategy")
    ee_link_name = LaunchConfiguration("ee_link_name").perform(context)
    base_link_name = LaunchConfiguration("base_link_name").perform(context)

    use_rbs_utils = LaunchConfiguration("use_sim_time")
    assembly_config_name = LaunchConfiguration("assembly_config_name")

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

    robot_description = {
        "robot_description": robot_description_content.perform(context)
    }

    robot_description_kinematics_filepath = os.path.join(
        get_package_share_directory(moveit_config_package.perform(context)),
        "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("rbs_bringup"),
                        "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={
            "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": robot_description_content,
            "robot_description_semantic": robot_description_semantic_content,
            "robot_description_kinematics": robot_description_kinematics_filepath,
            "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_filepath,
            "use_sim_time": use_sim_time,
            "with_gripper_condition": with_gripper_condition,
            "namespace": namespace,
            "use_moveit": use_moveit,
            "ee_link_name": ee_link_name,
            "base_link_name": base_link_name,
        }.items(),
        condition=IfCondition(use_skills),
    )


    # assembly config loader
    utils = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            [
                PathJoinSubstitution(
                    [
                        FindPackageShare("rbs_utils"),
                        "launch",
                        "utils.launch.py",
                    ]
                )
            ]
        ),
        launch_arguments={
            "use_sim_time": use_sim_time,
            "assembly_config_name": assembly_config_name
        }.items(),
        condition=IfCondition(use_rbs_utils),
    )

    nodes_to_start = [
        robot_state_publisher,
        control,
        moveit,
        skills,
        utils,
    ]
    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",
                "ar4",
                "ur3",
                "ur3e",
                "ur5",
                "ur5e",
                "ur10",
                "ur10e",
                "ur16e",
            ],
            default_value="rbs_arm",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "controllers_file",
            default_value="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(
            "use_skills",
            default_value="true",
            description="Specify if skills should be launched.",
        )
    )
    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.",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "ee_link_name",
            default_value="",
            description="End effector name of robot arm",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "base_link_name",
            default_value="",
            description="Base link name if robot arm",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "assembly_config_name",
            default_value="",
            description="Assembly config name",
        )
    )
    declared_arguments.append(
        DeclareLaunchArgument(
            "use_rbs_utils",
            default_value="true",
            description="Whwther use utils",
        )
    )

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