import os

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node


def generate_launch_description():
    """启动 origincar_bridge 节点，所有参数可通过命令行覆盖。"""

    # 声明 launch 参数（名称, 默认值, 说明）
    declare_http_host = DeclareLaunchArgument(
        "http_host",
        default_value="192.168.11.159",
        description="仿真机 IP 地址",
    )
    declare_http_port = DeclareLaunchArgument(
        "http_port",
        default_value="8765",
        description="HTTP API 端口",
    )
    declare_image_topic = DeclareLaunchArgument(
        "image_topic",
        default_value="/image",
        description="图像发布话题",
    )
    declare_imu_topic = DeclareLaunchArgument(
        "imu_topic",
        default_value="/imu",
        description="IMU 发布话题",
    )
    declare_cmd_vel_topic = DeclareLaunchArgument(
        "cmd_vel_topic",
        default_value="/cmd_vel",
        description="控制指令订阅话题",
    )
    declare_image_rate = DeclareLaunchArgument(
        "image_rate",
        default_value="30.0",
        description="图像拉取频率 (Hz)",
    )
    declare_imu_rate = DeclareLaunchArgument(
        "imu_rate",
        default_value="30.0",
        description="IMU 拉取频率 (Hz)",
    )
    declare_timeout = DeclareLaunchArgument(
        "timeout",
        default_value="1.0",
        description="HTTP 请求超时 (秒)",
    )

    # 节点
    bridge_node = Node(
        package="origincar_bridge",
        executable="bridge_node",
        name="origincar_bridge",
        output="screen",
        parameters=[
            {
                "http_host": LaunchConfiguration("http_host"),
                "http_port": LaunchConfiguration("http_port"),
                "image_topic": LaunchConfiguration("image_topic"),
                "imu_topic": LaunchConfiguration("imu_topic"),
                "cmd_vel_topic": LaunchConfiguration("cmd_vel_topic"),
                "image_rate": LaunchConfiguration("image_rate"),
                "imu_rate": LaunchConfiguration("imu_rate"),
                "timeout": LaunchConfiguration("timeout"),
            }
        ],
    )

    return LaunchDescription(
        [
            declare_http_host,
            declare_http_port,
            declare_image_topic,
            declare_imu_topic,
            declare_cmd_vel_topic,
            declare_image_rate,
            declare_imu_rate,
            declare_timeout,
            bridge_node,
        ]
    )