# Copyright (c) 2018 Intel Corporation
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

import os

from launch import LaunchDescription
from launch.actions import (
    DeclareLaunchArgument,
    GroupAction,
    IncludeLaunchDescription,
    SetEnvironmentVariable,
    OpaqueFunction,
)
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import EnvironmentVariable, LaunchConfiguration, PythonExpression
from launch_ros.actions import Node
from launch_ros.actions import PushRosNamespace
from launch_ros.descriptions import ParameterFile
from nav2_common.launch import RewrittenYaml, ReplaceString


def launch_setup(context, *args, **kwargs):
    # Get the launch directory
    launch_dir = "/husarion_utils"

    # Create the launch configuration variables
    namespace = LaunchConfiguration("namespace").perform(context)
    observation_topic = LaunchConfiguration("observation_topic").perform(context)
    map_yaml_file = LaunchConfiguration("map").perform(context)
    use_sim_time = LaunchConfiguration("use_sim_time").perform(context)
    params_file = LaunchConfiguration("params_file").perform(context)
    slam = LaunchConfiguration("slam").perform(context)
    autostart = LaunchConfiguration("autostart").perform(context)
    use_composition = LaunchConfiguration("use_composition").perform(context)
    use_respawn = LaunchConfiguration("use_respawn").perform(context)
    log_level = LaunchConfiguration("log_level").perform(context)

    # Create our own temporary YAML files that include substitutions
    param_substitutions = {"use_sim_time": use_sim_time, "yaml_filename": map_yaml_file}

    if namespace:
        params_file = ReplaceString(
            source_file=params_file, replacements={"<robot_namespace>": namespace}
        )
    else:
        params_file = ReplaceString(
            source_file=params_file, replacements={"<robot_namespace>/": ""}
        )

    params_file = ReplaceString(
        source_file=params_file, replacements={"<observation_topic>": observation_topic}
    )

    configured_params = ParameterFile(
        RewrittenYaml(
            source_file=params_file,
            root_key=namespace,
            param_rewrites=param_substitutions,
            convert_types=True,
        ),
        allow_substs=True,
    )

    # Specify the actions
    bringup_cmd_group = GroupAction(
        [
            PushRosNamespace(namespace),
            Node(
                condition=IfCondition(use_composition),
                name="nav2_container",
                package="rclcpp_components",
                executable="component_container_isolated",
                parameters=[configured_params, {"autostart": autostart}],
                arguments=["--ros-args", "--log-level", log_level],
                output="screen",
            ),
            IncludeLaunchDescription(
                PythonLaunchDescriptionSource(os.path.join(launch_dir, "slam_launch.py")),
                condition=IfCondition(slam),
                launch_arguments={
                    "namespace": namespace,
                    "use_sim_time": use_sim_time,
                    "autostart": autostart,
                    "use_respawn": use_respawn,
                    "params_file": params_file,
                }.items(),
            ),
            IncludeLaunchDescription(
                PythonLaunchDescriptionSource(os.path.join(launch_dir, "localization_launch.py")),
                condition=IfCondition(PythonExpression(["not ", slam])),
                launch_arguments={
                    "namespace": namespace,
                    "map": map_yaml_file,
                    "use_sim_time": use_sim_time,
                    "autostart": autostart,
                    "params_file": params_file,
                    "use_composition": use_composition,
                    "use_respawn": use_respawn,
                    "container_name": "nav2_container",
                }.items(),
            ),
            IncludeLaunchDescription(
                PythonLaunchDescriptionSource(os.path.join(launch_dir, "navigation_launch.py")),
                launch_arguments={
                    "namespace": namespace,
                    "use_sim_time": use_sim_time,
                    "autostart": autostart,
                    "params_file": params_file,
                    "use_composition": use_composition,
                    "use_respawn": use_respawn,
                    "container_name": "nav2_container",
                }.items(),
            ),
        ]
    )

    healthcheck_node = Node(
        package="healthcheck_pkg",
        executable="healthcheck_node",
        name="healthcheck_navigation",
        namespace=namespace,
        output="screen",
    )

    return [bringup_cmd_group, healthcheck_node]


def generate_launch_description():
    return LaunchDescription(
        [
            SetEnvironmentVariable("RCUTILS_LOGGING_BUFFERED_STREAM", "1"),
            DeclareLaunchArgument(
                "namespace",
                default_value=EnvironmentVariable("ROBOT_NAMESPACE", default_value=""),
                description="Top-level namespace",
            ),
            DeclareLaunchArgument(
                "observation_topic",
                default_value="",
                description="Topic name for PointCloud2 messages.",
            ),
            DeclareLaunchArgument("slam", default_value="False", description="Whether run a SLAM"),
            DeclareLaunchArgument("map", description="Full path to map yaml file to load"),
            DeclareLaunchArgument(
                "use_sim_time",
                default_value="false",
                description="Use simulation (Gazebo) clock if true",
            ),
            DeclareLaunchArgument(
                "params_file",
                default_value=os.path.join("/params.yaml"),
                description="Full path to the ROS2 parameters file to use for all launched nodes",
            ),
            DeclareLaunchArgument(
                "autostart",
                default_value="true",
                description="Automatically startup the nav2 stack",
            ),
            DeclareLaunchArgument(
                "use_composition",
                default_value="True",
                description="Whether to use composed bringup",
            ),
            DeclareLaunchArgument(
                "use_respawn",
                default_value="False",
                description="Whether to respawn if a node crashes. Applied when composition is disabled.",
            ),
            DeclareLaunchArgument("log_level", default_value="info", description="log level"),
            OpaqueFunction(function=launch_setup),
        ]
    )