#!/usr/bin/env python3

# Copyright 2024 Universidad Politécnica de Madrid
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"""Launch trajectory generator node."""

__authors__ = 'CVAR'
__copyright__ = 'Copyright (c) 2024 Universidad Politécnica de Madrid'
__license__ = 'BSD-3-Clause'

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


def generate_launch_description():
    # Get default configuration file
    package_folder = get_package_share_directory('as2_behaviors_trajectory_generation')
    config_file = os.path.join(package_folder,
                               'generate_polynomial_trajectory_behavior/'
                               'config/config_default.yaml')
    return LaunchDescription([
        DeclareLaunchArgument('log_level',
                              description='Logging level',
                              default_value='info'),
        DeclareLaunchArgument('use_sim_time',
                              description='Use simulation clock if true',
                              default_value='false'),
        DeclareLaunchArgument('namespace',
                              description='Drone namespace',
                              default_value=EnvironmentVariable(
                                  'AEROSTACK2_SIMULATION_DRONE_ID')),
        DeclareLaunchArgumentsFromConfigFile(
            name='config_file', source_file=config_file,
            description='Path to behavior configuration file'),
        Node(
            package='as2_behaviors_trajectory_generation',
            executable='generate_polynomial_trajectory_behavior_node',
            namespace=LaunchConfiguration('namespace'),
            output='screen',
            arguments=['--ros-args', '--log-level',
                       LaunchConfiguration('log_level')],
            parameters=[
                {
                    'use_sim_time': LaunchConfiguration('use_sim_time'),
                },
                LaunchConfigurationFromConfigFile(
                    'config_file',
                    default_file=config_file)],
            emulate_tty=True
        )
    ])
