#!/usr/bin/env python3

from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import OpaqueFunction, IncludeLaunchDescription, DeclareLaunchArgument
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare


def launch_setup(context, *args, **kwargs):
    prefix = LaunchConfiguration('prefix', default='')
    hw_ns = LaunchConfiguration('hw_ns', default='xarm')
    limited = LaunchConfiguration('limited', default=True)
    effort_control = LaunchConfiguration('effort_control', default=False)
    velocity_control = LaunchConfiguration('velocity_control', default=False)
    add_gripper = LaunchConfiguration('add_gripper', default=False)
    add_vacuum_gripper = LaunchConfiguration('add_vacuum_gripper', default=False)
    dof = LaunchConfiguration('dof', default=6)
    robot_type = LaunchConfiguration('robot_type', default='lite')
    no_gui_ctrl = LaunchConfiguration('no_gui_ctrl', default=False)

    add_other_geometry = LaunchConfiguration('add_other_geometry', default=False)
    geometry_type = LaunchConfiguration('geometry_type', default='box')
    geometry_mass = LaunchConfiguration('geometry_mass', default=0.1)
    geometry_height = LaunchConfiguration('geometry_height', default=0.1)
    geometry_radius = LaunchConfiguration('geometry_radius', default=0.1)
    geometry_length = LaunchConfiguration('geometry_length', default=0.1)
    geometry_width = LaunchConfiguration('geometry_width', default=0.1)
    geometry_mesh_filename = LaunchConfiguration('geometry_mesh_filename', default='')
    geometry_mesh_origin_xyz = LaunchConfiguration('geometry_mesh_origin_xyz', default='"0 0 0"')
    geometry_mesh_origin_rpy = LaunchConfiguration('geometry_mesh_origin_rpy', default='"0 0 0"')
    geometry_mesh_tcp_xyz = LaunchConfiguration('geometry_mesh_tcp_xyz', default='"0 0 0"')
    geometry_mesh_tcp_rpy = LaunchConfiguration('geometry_mesh_tcp_rpy', default='"0 0 0"')

    ros2_control_plugin = 'gazebo_ros2_control/GazeboSystem'
    controllers_name = 'fake_controllers'
    moveit_controller_manager_key = 'moveit_simple_controller_manager'
    moveit_controller_manager_value = 'moveit_simple_controller_manager/MoveItSimpleControllerManager'

    # robot moveit common launch
    # xarm_moveit_config/launch/_robot_moveit_common.launch.py
    robot_moveit_common_launch = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_moveit_config'), 'launch', '_robot_moveit_common.launch.py'])),
        launch_arguments={
            'prefix': prefix,
            'hw_ns': hw_ns,
            'limited': limited,
            'effort_control': effort_control,
            'velocity_control': velocity_control,
            'add_gripper': add_gripper,
            # 'add_gripper': add_gripper if robot_type.perform(context) == 'xarm' else 'false',
            'add_vacuum_gripper': add_vacuum_gripper,
            'dof': dof,
            'robot_type': robot_type,
            'no_gui_ctrl': no_gui_ctrl,
            'ros2_control_plugin': ros2_control_plugin,
            'controllers_name': controllers_name,
            'moveit_controller_manager_key': moveit_controller_manager_key,
            'moveit_controller_manager_value': moveit_controller_manager_value,
            'add_other_geometry': add_other_geometry,
            'geometry_type': geometry_type,
            'geometry_mass': geometry_mass,
            'geometry_height': geometry_height,
            'geometry_radius': geometry_radius,
            'geometry_length': geometry_length,
            'geometry_width': geometry_width,
            'geometry_mesh_filename': geometry_mesh_filename,
            'geometry_mesh_origin_xyz': geometry_mesh_origin_xyz,
            'geometry_mesh_origin_rpy': geometry_mesh_origin_rpy,
            'geometry_mesh_tcp_xyz': geometry_mesh_tcp_xyz,
            'geometry_mesh_tcp_rpy': geometry_mesh_tcp_rpy,
            'use_sim_time': 'true'
        }.items(),
    )

    # robot gazebo launch
    # xarm_gazebo/launch/_robot_beside_table_gazebo.launch.py
    robot_gazebo_launch = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('draw_svg'), 'launch', 'robots', '_robot_beside_table_gazebo.launch.py'])),
        launch_arguments={
            'prefix': prefix,
            'hw_ns': hw_ns,
            'limited': limited,
            'effort_control': effort_control,
            'velocity_control': velocity_control,
            'add_gripper': add_gripper,
            'add_vacuum_gripper': add_vacuum_gripper,
            'dof': dof,
            'robot_type': robot_type,
            'ros2_control_plugin': ros2_control_plugin,
            'load_controller': 'true',
        }.items(),
    )

    # List of nodes to be launched
        # Run the example node (Python)
    followNode = Node(
            package="draw_svg",
            executable="follow.py",
            output="log",
            arguments=["--ros-args", "--log-level", "warn"],
            parameters=[{"use_sim_time": True}],
        )
    drawNode = Node(
            package="draw_svg",
            executable="draw_svg.py",
            output="log",
            arguments=["--ros-args", "--log-level", "warn"],
            parameters=[{"use_sim_time": True}],
        )

    # ros_ign_gazebo_create
    #model = LaunchConfiguration("model")
    #ros_ign_bridge = Node(
    #        package="ros_ign_gazebo",
    #        executable="create",
    #        output="log",
    #        arguments=["-file", model, "--ros-args", "--log-level", log_level],
    #        parameters=[{"use_sim_time": use_sim_time}],
    #    )

    return [
        robot_gazebo_launch,
        robot_moveit_common_launch,
        followNode,
        drawNode,
        #ros_ign_bridge,
    ]


def generate_launch_description():
    return LaunchDescription([
        OpaqueFunction(function=launch_setup)
    ])