#!/usr/bin/env python3
"""
agint_brain.planner.launch - Planner Node 启动文件

功能：
    - 启动 planner_node
    - 加载 planner_config.yaml
    - 配置 ROS2 参数
    - 输出到 screen

使用方式：
    ros2 launch agint_brain planner.launch.py

可选参数：
    planner_config_path: 配置文件路径
    input_world_topic: 世界状态 topic
    input_user_intent_topic: 用户意图 topic
    output_plan_topic: Plan 输出 topic
    llm_request_topic: LLM 请求 topic
    llm_response_topic: LLM 响应 topic
    use_llm: 是否启用 LLM
    llm_timeout_sec: LLM 超时时间
    debug_log: 是否输出调试日志
"""

import os
from pathlib import Path

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, LogInfo, RegisterEventHandler
from launch.event_handlers import OnProcessExit
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node


def generate_launch_description() -> LaunchDescription:
    """生成 launch description"""
    
    # 获取包共享目录
    pkg_share = get_package_share_directory("agint_brain")
    
    # 默认配置文件路径
    default_config_path = PathJoinSubstitution([
        pkg_share,
        "config",
        "planner_config.yaml"
    ])

    # =========================================================================
    # Launch Arguments
    # =========================================================================
    planner_config_path_arg = DeclareLaunchArgument(
        "planner_config_path",
        default_value=default_config_path,
        description="planner_config.yaml 配置文件路径",
    )

    gate_config_path_arg = DeclareLaunchArgument(
        "gate_config_path",
        default_value=PathJoinSubstitution([
            pkg_share,
            "config",
            "planner_gate_config.yaml"
        ]),
        description="planner_gate_config.yaml 配置文件路径（Gate 前置治理配置）",
    )
    
    input_world_topic_arg = DeclareLaunchArgument(
        "input_world_topic",
        default_value="/world/snapshot",
        description="World snapshot 输入 topic",
    )
    
    input_user_intent_topic_arg = DeclareLaunchArgument(
        "input_user_intent_topic",
        default_value="/planner/user_intent",
        description="用户意图输入 topic（已废弃，使用 input_asr_topic）",
    )

    input_asr_topic_arg = DeclareLaunchArgument(
        "input_asr_topic",
        default_value="/asr",
        description="ASR 语音识别输入 topic",
    )
    
    output_plan_topic_arg = DeclareLaunchArgument(
        "output_plan_topic",
        default_value="/plan",
        description="Plan 输出 topic",
    )
    
    llm_request_topic_arg = DeclareLaunchArgument(
        "llm_request_topic",
        default_value="/planner/llm_request",
        description="LLM 请求 topic",
    )
    
    llm_response_topic_arg = DeclareLaunchArgument(
        "llm_response_topic",
        default_value="/planner/llm_response",
        description="LLM 响应 topic",
    )
    
    use_llm_arg = DeclareLaunchArgument(
        "use_llm",
        default_value="true",
        description="是否启用 LLM",
    )
    
    llm_timeout_sec_arg = DeclareLaunchArgument(
        "llm_timeout_sec",
        default_value="10.0",
        description="LLM 请求超时时间（秒）",
    )
    
    debug_log_arg = DeclareLaunchArgument(
        "debug_log",
        default_value="true",
        description="是否输出调试日志",
    )

    default_session_id_arg = DeclareLaunchArgument(
        "default_session_id",
        default_value="default",
        description="默认会话 ID",
    )

    # =========================================================================
    # Planner Node
    # =========================================================================
    planner_node = Node(
        package="agint_brain",
        executable="planner_node",
        name="planner_node",
        output="screen",
        emulate_tty=True,
        parameters=[
            {
                "planner_config_path": LaunchConfiguration("planner_config_path"),
                "gate_config_path": LaunchConfiguration("gate_config_path"),
                "input_world_topic": LaunchConfiguration("input_world_topic"),
                "input_asr_topic": LaunchConfiguration("input_asr_topic"),
                "output_plan_topic": LaunchConfiguration("output_plan_topic"),
                "llm_request_topic": LaunchConfiguration("llm_request_topic"),
                "llm_response_topic": LaunchConfiguration("llm_response_topic"),
                "use_llm": LaunchConfiguration("use_llm"),
                "llm_timeout_sec": LaunchConfiguration("llm_timeout_sec"),
                "debug_log": LaunchConfiguration("debug_log"),
                "default_session_id": LaunchConfiguration("default_session_id", default="default"),
            }
        ],
    )

    # =========================================================================
    # Event Handlers
    # =========================================================================
    exit_event = RegisterEventHandler(
        event_handler=OnProcessExit(
            target_action=planner_node,
            on_exit=[LogInfo(msg="Planner Node 已退出")],
        )
    )

    # =========================================================================
    # Launch Description
    # =========================================================================
    ld = LaunchDescription([
        LogInfo(msg="========================================"),
        LogInfo(msg="正在启动 Planner Node (含 Gate 前置治理层)..."),
        LogInfo(msg="========================================"),
        planner_config_path_arg,
        gate_config_path_arg,
        input_world_topic_arg,
        input_asr_topic_arg,
        output_plan_topic_arg,
        llm_request_topic_arg,
        llm_response_topic_arg,
        use_llm_arg,
        llm_timeout_sec_arg,
        debug_log_arg,
        default_session_id_arg,
        planner_node,
        exit_event,
    ])

    return ld