# Copyright 2023 ArduPilot.org.
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <https://www.gnu.org/licenses/>.

"""
Launch ArduPilot SITL, MAVProxy and the microROS DDS agent.

Run with default arguments:

ros2 launch ardupilot_sitl sitl_dds_serial.launch.py
"""
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import PathJoinSubstitution

from launch_ros.substitutions import FindPackageShare


def generate_launch_description() -> LaunchDescription:
    """Generate a launch description to bring up ArduPilot SITL with DDS."""
    # Compose launch files.
    virtual_ports = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            [
                PathJoinSubstitution(
                    [
                        FindPackageShare("ardupilot_sitl"),
                        "launch",
                        "virtual_ports.launch.py",
                    ]
                ),
            ]
        )
    )
    micro_ros_agent = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            [
                PathJoinSubstitution(
                    [
                        FindPackageShare("ardupilot_sitl"),
                        "launch",
                        "micro_ros_agent.launch.py",
                    ]
                ),
            ]
        )
    )
    sitl = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            [
                PathJoinSubstitution(
                    [
                        FindPackageShare("ardupilot_sitl"),
                        "launch",
                        "sitl.launch.py",
                    ]
                ),
            ]
        )
    )
    mavproxy = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            [
                PathJoinSubstitution(
                    [
                        FindPackageShare("ardupilot_sitl"),
                        "launch",
                        "mavproxy.launch.py",
                    ]
                ),
            ]
        )
    )

    return LaunchDescription(
        [
            virtual_ports,
            micro_ros_agent,
            sitl,
            mavproxy,
        ]
    )