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 - 基本设置
    send_frequency_arg = DeclareLaunchArgument(
        'send_frequency',
        default_value='50.0',
        description='CAN 发送频率 (Hz)'
    )
    
    tx_channel_arg = DeclareLaunchArgument(
        'tx_channel',
        default_value='0',
        description='CAN 发送通道 (0 或 1)'
    )
    
    rx_channel_arg = DeclareLaunchArgument(
        'rx_channel',
        default_value='1',
        description='CAN 接收通道 (0 或 1)'
    )
    
    # 声明启动参数 - CAN ID 设置
    can_id_motion_arg = DeclareLaunchArgument(
        'can_id_motion',
        default_value='329',  # 0x149 = 329
        description='运动控制 CAN ID (十进制，默认 0x149=329)'
    )
    
    can_id_attack_arg = DeclareLaunchArgument(
        'can_id_attack',
        default_value='393',  # 0x189 = 393
        description='攻击控制 CAN ID (十进制，默认 0x189=393)'
    )
    
    # 声明启动参数 - CAN 帧格式
    use_extended_frame_arg = DeclareLaunchArgument(
        'use_extended_frame',
        default_value='false',
        description='是否使用扩展帧(29位ID)，false=标准帧(11位)'
    )
    
    use_canfd_arg = DeclareLaunchArgument(
        'use_canfd',
        default_value='false',
        description='是否使用 CANFD，false=CAN2.0'
    )
    
    use_brs_arg = DeclareLaunchArgument(
        'use_brs',
        default_value='false',
        description='CANFD 是否启用波特率切换(BRS)'
    )
    
    # 声明启动参数 - 接收过滤
    rx_filter_enabled_arg = DeclareLaunchArgument(
        'rx_filter_enabled',
        default_value='false',
        description='是否启用接收 ID 过滤'
    )
    
    rx_filter_id_min_arg = DeclareLaunchArgument(
        'rx_filter_id_min',
        default_value='0',
        description='接收过滤 ID 最小值'
    )
    
    rx_filter_id_max_arg = DeclareLaunchArgument(
        'rx_filter_id_max',
        default_value='2047',  # 0x7FF
        description='接收过滤 ID 最大值'
    )

    # 创建节点
    transmitter_test_node = Node(
        package='amadeus_26',
        executable='transmitter_test_node',
        name='transmitter_test_node',
        output='screen',
        parameters=[{
            'send_frequency': LaunchConfiguration('send_frequency'),
            'tx_channel': LaunchConfiguration('tx_channel'),
            'rx_channel': LaunchConfiguration('rx_channel'),
            'can_id_motion': LaunchConfiguration('can_id_motion'),
            'can_id_attack': LaunchConfiguration('can_id_attack'),
            'use_extended_frame': LaunchConfiguration('use_extended_frame'),
            'use_canfd': LaunchConfiguration('use_canfd'),
            'use_brs': LaunchConfiguration('use_brs'),
            'rx_filter_enabled': LaunchConfiguration('rx_filter_enabled'),
            'rx_filter_id_min': LaunchConfiguration('rx_filter_id_min'),
            'rx_filter_id_max': LaunchConfiguration('rx_filter_id_max'),
        }],
    )

    return LaunchDescription([
        send_frequency_arg,
        tx_channel_arg,
        rx_channel_arg,
        can_id_motion_arg,
        can_id_attack_arg,
        use_extended_frame_arg,
        use_canfd_arg,
        use_brs_arg,
        rx_filter_enabled_arg,
        rx_filter_id_min_arg,
        rx_filter_id_max_arg,
        transmitter_test_node,
    ])