#!/usr/bin/env python3

# Copyright 2024 Universidad Politécnica de Madrid
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
#    * Redistributions of source code must retain the above copyright
#      notice, this list of conditions and the following disclaimer.
#
#    * Redistributions in binary form must reproduce the above copyright
#      notice, this list of conditions and the following disclaimer in the
#      documentation and/or other materials provided with the distribution.
#
#    * Neither the name of the the copyright holder nor the names of its
#      contributors may be used to endorse or promote products derived from
#      this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.

"""as2_map_server point_cloud2occ_grid plugin launch file."""

from __future__ import annotations

import os

from ament_index_python.packages import get_package_share_directory
from as2_core.declare_launch_arguments_from_config_file import DeclareLaunchArgumentsFromConfigFile
from as2_core.launch_configuration_from_config_file import LaunchConfigurationFromConfigFile
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import EnvironmentVariable, LaunchConfiguration
from launch_ros.actions import Node, SetParameter


def generate_launch_description():
    """Launcher entrypoint."""
    plugin_config_file = os.path.join(get_package_share_directory('as2_map_server'),
                                      'plugins/point_cloud2occ_grid/config/plugin_default.yaml')
    return LaunchDescription([
        DeclareLaunchArgument('use_sim_time', default_value='false'),
        DeclareLaunchArgument('namespace',
                              default_value=EnvironmentVariable(
                                  'AEROSTACK2_SIMULATION_DRONE_ID'),
                              description='Drone namespace'),
        DeclareLaunchArgumentsFromConfigFile(
            name='plugin_config_file', source_file=plugin_config_file,
            description='Plugin configuration file'),
        SetParameter(name='use_sim_time', value=LaunchConfiguration('use_sim_time')),
        Node(
            package='pointcloud_to_laserscan',
            executable='pointcloud_to_laserscan_node',
            namespace=LaunchConfiguration('namespace'),
            output='screen',
            emulate_tty=True,
            remappings=[
                ('cloud_in', LaunchConfiguration('cloud_topic_in')),
                ('scan', LaunchConfiguration('scan_topic_out'))
            ],
            parameters=[
                LaunchConfigurationFromConfigFile(
                    'plugin_config_file',
                    default_file=plugin_config_file),
            ]
        ),
        Node(
            package='as2_map_server',
            executable='as2_map_server_node',
            namespace=LaunchConfiguration('namespace'),
            output='screen',
            emulate_tty=True,
            parameters=[
                {'plugin_name': 'scan2occ_grid'},
                LaunchConfigurationFromConfigFile(
                    'plugin_config_file',
                    default_file=plugin_config_file),
            ]
        )
    ])
