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


def generate_launch_description():
    # 声明启动参数
    serial_port_arg = DeclareLaunchArgument(
        'serial_port',
        default_value='/dev/ttyCH340',
        description='CH340 串口设备路径'
    )
    
    baudrate_arg = DeclareLaunchArgument(
        'baudrate',
        default_value='115200',
        description='串口波特率'
    )
    
    send_frequency_arg = DeclareLaunchArgument(
        'send_frequency',
        default_value='10.0',
        description='发送频率 (Hz)'
    )
    
    # 控制参数
    x_move_arg = DeclareLaunchArgument(
        'x_move',
        default_value='0',
        description='平动左右 [-660, 660]'
    )
    
    y_move_arg = DeclareLaunchArgument(
        'y_move',
        default_value='0',
        description='平动前后 [-660, 660]'
    )
    
    yaw_arg = DeclareLaunchArgument(
        'yaw',
        default_value='0',
        description='云台偏航 [-660, 660]'
    )
    
    pitch_arg = DeclareLaunchArgument(
        'pitch',
        default_value='0',
        description='云台俯仰 [-660, 660]'
    )
    
    feed_arg = DeclareLaunchArgument(
        'feed',
        default_value='0',
        description='拨弹轮 [-660, 660]'
    )
    
    left_switch_arg = DeclareLaunchArgument(
        'left_switch',
        default_value='3',
        description='左拨杆 [1, 3]'
    )
    
    right_switch_arg = DeclareLaunchArgument(
        'right_switch',
        default_value='3',
        description='右拨杆 [1, 3]'
    )

    # 创建节点
    uart_transmitter_node = Node(
        package='amadeus_26',
        executable='uart_transmitter_node',
        name='uart_transmitter_node',
        output='screen',
        parameters=[{
            'serial_port': LaunchConfiguration('serial_port'),
            'baudrate': LaunchConfiguration('baudrate'),
            'send_frequency': LaunchConfiguration('send_frequency'),
            'x_move': LaunchConfiguration('x_move'),
            'y_move': LaunchConfiguration('y_move'),
            'yaw': LaunchConfiguration('yaw'),
            'pitch': LaunchConfiguration('pitch'),
            'feed': LaunchConfiguration('feed'),
            'left_switch': LaunchConfiguration('left_switch'),
            'right_switch': LaunchConfiguration('right_switch'),
        }],
    )

    return LaunchDescription([
        serial_port_arg,
        baudrate_arg,
        send_frequency_arg,
        x_move_arg,
        y_move_arg,
        yaw_arg,
        pitch_arg,
        feed_arg,
        left_switch_arg,
        right_switch_arg,
        uart_transmitter_node,
    ])