#!/usr/bin/env python3

# Software License Agreement (BSD)
#
# @author    Luis Camero <lcamero@clearpathrobotics.com>
# @copyright (c) 2024, Clearpath Robotics, Inc., All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
# * Redistributions of source code must retain the above copyright notice,
#   this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright notice,
#   this list of conditions and the following disclaimer in the documentation
#   and/or other materials provided with the distribution.
# * Neither the name of Clearpath Robotics nor the names of its contributors
#   may be used to endorse or promote products derived from this software
#   without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.

# Redistribution and use in source and binary forms, with or without
# modification, is not permitted without the express permission
# of Clearpath Robotics.
import os

from clearpath_config.common.types.exception import (
    UnsupportedAccessoryException,
    UnsupportedMiddlewareException,
    UnsupportedPlatformException,
)
from clearpath_generator_common.common import BaseGenerator
from clearpath_generator_common.semantic_description.generator import SemanticDescriptionGenerator
from ros2run.api import get_executable_path, run_executable

PACKAGE = '<package><name>clearpath_generator_common</name></package>\n'


def main():
    try:
        setup_path = BaseGenerator.get_args()
        sdg = SemanticDescriptionGenerator(setup_path)
        sdg.generate()
        # Create pseudo package
        with open(os.path.join(setup_path, 'package.xml'), 'w+') as f:
            f.write(PACKAGE)
        # Update collision matrix
        path = get_executable_path(
            executable_name='moveit_collision_updater',
            package_name='clearpath_generator_common'
        )
        argv = [
            '--urdf', os.path.join(setup_path, 'robot.urdf.xacro'),
            '--srdf', os.path.join(setup_path, 'robot.srdf.xacro'),
            '--output', os.path.join(setup_path, 'robot.srdf'),
            '--trials', '100000',
        ]
        run_executable(path=path, argv=argv)
        # Delete pseudo package
        os.remove(os.path.join(setup_path, 'package.xml'))
    except UnsupportedAccessoryException as err:
        print(f'[ERROR] Unable to generate semantic description: {err}')
    except UnsupportedMiddlewareException as err:
        print(f'[ERROR] Unable to generate semantic description: {err}')
    except UnsupportedPlatformException as err:
        print(f'[ERROR] Unable to generate semantic description: {err}')


if __name__ == '__main__':
    main()
