"""drone_bridges.py."""

# Copyright 2022 Universidad Politécnica de Madrid
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import json

from as2_gazebo_assets.utils.launch_exception import InvalidSimulationConfigFile
from as2_gazebo_assets.world import World

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, LogInfo, OpaqueFunction, Shutdown
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
import yaml


def drone_bridges(context):
    """Return drone bridges."""
    namespace = LaunchConfiguration('namespace').perform(context)
    config_file = LaunchConfiguration(
        'simulation_config_file').perform(context)

    # Check extension of config file
    if config_file.endswith('.json'):
        with open(config_file, 'r', encoding='utf-8') as stream:
            config = json.load(stream)
    elif config_file.endswith('.yaml') or config_file.endswith('.yml'):
        with open(config_file, 'r', encoding='utf-8') as stream:
            config = yaml.safe_load(stream)
    else:
        raise InvalidSimulationConfigFile('Invalid configuration file extension.')
    world = World(**config)

    nodes = []
    for drone_model in world.drones:
        if drone_model.model_name == namespace:  # only the one desired
            bridges, custom_bridges = drone_model.bridges(world.world_name)
            nodes.append(Node(
                package='ros_gz_bridge',
                executable='parameter_bridge',
                namespace=drone_model.model_name,
                output='screen',
                arguments=[bridge.argument() for bridge in bridges],
                remappings=[bridge.remapping() for bridge in bridges]
            ))
            nodes += custom_bridges

    if not nodes:
        return [
            LogInfo(msg='Gazebo Ignition bridge creation failed.'),
            LogInfo(msg=f'Drone ID: {namespace} not found in {config_file}.'),
            Shutdown(reason='Aborting..')]
    return nodes


def generate_launch_description():
    """Generate Launch description with world bridges."""
    return LaunchDescription([
        DeclareLaunchArgument(
            'simulation_config_file',
            description='YAML configuration file to spawn'
        ),
        DeclareLaunchArgument(
            'namespace',
            description='Drone ID to create bridges'
        ),
        OpaqueFunction(function=drone_bridges)
    ])
