#!/usr/bin/env python3

# Copyright 2024 Universidad Politécnica de Madrid
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"""Launch trajectory generator composable 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.conditions import LaunchConfigurationEquals, LaunchConfigurationNotEquals
from launch.substitutions import EnvironmentVariable, LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes
from launch_ros.descriptions import ComposableNode


def generate_launch_description():
    """Launch trajectory generator composable node."""
    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')
    traj_generator_node = ComposableNode(
        namespace=LaunchConfiguration('namespace'),
        package='as2_behaviors_trajectory_generation',
        plugin='DynamicPolynomialTrajectoryGenerator',
        name='TrajectoryGeneratorBehavior',
        parameters=[
            {
                'use_sim_time': LaunchConfiguration('use_sim_time'),
            },
            LaunchConfigurationFromConfigFile(
                'config_file',
                default_file=config_file)]
    )

    return LaunchDescription([
        DeclareLaunchArgument('namespace', default_value=EnvironmentVariable(
            'AEROSTACK2_SIMULATION_DRONE_ID')),
        DeclareLaunchArgument(
            name='container', default_value='',
            description=(
                'Name of an existing node container to load launched nodes into. '
                'If unset, a new container will be created with name "behaviors".'
            )
        ),
        DeclareLaunchArgument('log_level',
                              description='Logging level',
                              default_value='info'),
        DeclareLaunchArgument('use_sim_time',
                              description='Use simulation clock if true',
                              default_value='false'),
        DeclareLaunchArgumentsFromConfigFile(
            name='config_file', source_file=config_file,
            description='Path to behavior configuration file'),
        # Load in existing container
        LoadComposableNodes(
            condition=LaunchConfigurationNotEquals('container', ''),
            composable_node_descriptions=[traj_generator_node],
            target_container=(LaunchConfiguration('namespace'),
                              '/', LaunchConfiguration('container')),
        ),
        # Or create new container
        ComposableNodeContainer(
            condition=LaunchConfigurationEquals('container', ''),
            name='behaviors',  # TODO: use other name?
            namespace=LaunchConfiguration('namespace'),
            package='rclcpp_components',
            executable='component_container',
            composable_node_descriptions=[
                traj_generator_node
            ],
            output='screen',
            arguments=['--ros-args', '--log-level',
                       LaunchConfiguration('log_level')],
            emulate_tty=True
        )
    ])
