#!/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
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# 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_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():
    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')
    ]
    run_executable(path=path, argv=argv)
    # Delete pseudo package
    os.remove(os.path.join(setup_path, 'package.xml'))


if __name__ == '__main__':
    main()
