"""双 RM75 真机遥操作启动入口。

该 launch 文件用于连接左右两台真实 RM75：启动 UDP 手柄接收节点，并分别启动
左、右两个真机遥操作节点。默认不会自动移动到初始点，只有显式设置
`move_to_initial_pose_on_connect:=true` 后才会执行初始化点位移动。
"""

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.parameter_descriptions import ParameterValue
from launch_ros.substitutions import FindPackageShare


def generate_launch_description() -> LaunchDescription:
    # 双臂真机默认读取 xr_rm_bringup/config/dual_arm_rm75.yaml。
    config_file = PathJoinSubstitution([
        FindPackageShare("xr_rm_bringup"),
        "config",
        LaunchConfiguration("robot_config"),
    ])

    return LaunchDescription([
        # UDP 监听参数，需要与 PICO 端发送地址和端口匹配。
        DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
        DeclareLaunchArgument("udp_port", default_value="15000"),
        # 左右 RM75 的默认现场 IP，可在 launch 命令中按实际网络覆盖。
        DeclareLaunchArgument("left_robot_ip", default_value="192.168.192.18"),
        DeclareLaunchArgument("right_robot_ip", default_value="192.168.192.19"),
        DeclareLaunchArgument("robot_port", default_value="8080"),
        DeclareLaunchArgument("robot_config", default_value="dual_arm_rm75.yaml"),
        # 调试时可关闭部分节点，只验证 UDP 或单侧机械臂。
        DeclareLaunchArgument("run_udp", default_value="true"),
        DeclareLaunchArgument("run_left_arm", default_value="true"),
        DeclareLaunchArgument("run_right_arm", default_value="true"),
        # 真机默认不自动动臂，确认安全区清空后再手动打开。
        DeclareLaunchArgument("move_to_initial_pose_on_connect", default_value="false"),
        # 接收 PICO/XR 侧 UDP 数据，并按左右手字段分发到对应手柄话题。
        Node(
            package="xr_rm_input",
            executable="udp_controller_receiver",
            name="udp_controller_receiver",
            output="screen",
            condition=IfCondition(LaunchConfiguration("run_udp")),
            parameters=[{
                "udp_host": LaunchConfiguration("udp_host"),
                "udp_port": LaunchConfiguration("udp_port"),
                "left_topic": "/xr/left_controller",
                "right_topic": "/xr/right_controller",
            }],
        ),
        # 左臂真机节点：连接 left_robot_ip，并读取 left_arm_teleop 参数命名空间。
        Node(
            package="xr_rm_teleop",
            executable="single_arm_velocity_teleop",
            name="left_arm_teleop",
            output="screen",
            condition=IfCondition(LaunchConfiguration("run_left_arm")),
            parameters=[
                config_file,
                {
                    "use_mock": False,
                    "robot_ip": LaunchConfiguration("left_robot_ip"),
                    "robot_port": LaunchConfiguration("robot_port"),
                    "move_to_initial_pose_on_connect": ParameterValue(
                        LaunchConfiguration("move_to_initial_pose_on_connect"),
                        value_type=bool,
                    ),
                },
            ],
        ),
        # 右臂真机节点：连接 right_robot_ip，并读取 right_arm_teleop 参数命名空间。
        Node(
            package="xr_rm_teleop",
            executable="single_arm_velocity_teleop",
            name="right_arm_teleop",
            output="screen",
            condition=IfCondition(LaunchConfiguration("run_right_arm")),
            parameters=[
                config_file,
                {
                    "use_mock": False,
                    "robot_ip": LaunchConfiguration("right_robot_ip"),
                    "robot_port": LaunchConfiguration("robot_port"),
                    "move_to_initial_pose_on_connect": ParameterValue(
                        LaunchConfiguration("move_to_initial_pose_on_connect"),
                        value_type=bool,
                    ),
                },
            ],
        ),
    ])