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。"""

    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_timeout = DeclareLaunchArgument(
        "timeout", default_value="1.0",
        description="HTTP 请求超时 (秒)",
    )
    declare_sync_rate = DeclareLaunchArgument(
        "sync_rate", default_value="30.0",
        description="scan/odom/imu/power 同步频率 (Hz)",
    )
    declare_image_rate = DeclareLaunchArgument(
        "image_rate", default_value="10.0",
        description="图像拉取频率 (Hz)",
    )

    # 话题名称
    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/data_raw",
        description="IMU 发布话题",
    )
    declare_scan_topic = DeclareLaunchArgument(
        "scan_topic", default_value="/scan",
        description="激光雷达发布话题",
    )
    declare_odom_topic = DeclareLaunchArgument(
        "odom_topic", default_value="/odom",
        description="里程计发布话题",
    )
    declare_power_topic = DeclareLaunchArgument(
        "power_topic", default_value="/PowerVoltage",
        description="电池电压发布话题",
    )
    declare_cmd_vel_topic = DeclareLaunchArgument(
        "cmd_vel_topic", default_value="/cmd_vel",
        description="控制指令订阅话题",
    )

    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"),
            "timeout":       LaunchConfiguration("timeout"),
            "sync_rate":     LaunchConfiguration("sync_rate"),
            "image_rate":    LaunchConfiguration("image_rate"),
            "image_topic":   LaunchConfiguration("image_topic"),
            "imu_topic":     LaunchConfiguration("imu_topic"),
            "scan_topic":    LaunchConfiguration("scan_topic"),
            "odom_topic":    LaunchConfiguration("odom_topic"),
            "power_topic":   LaunchConfiguration("power_topic"),
            "cmd_vel_topic": LaunchConfiguration("cmd_vel_topic"),
        }],
    )

    return LaunchDescription([
        declare_http_host, declare_http_port, declare_timeout,
        declare_sync_rate, declare_image_rate,
        declare_image_topic, declare_imu_topic, declare_scan_topic,
        declare_odom_topic, declare_power_topic, declare_cmd_vel_topic,
        bridge_node,
    ])