"""
foxglove_mcap.launch.py
Launches foxglove_bridge (WebSocket :8765) and MCAP bag recording.
Included automatically by rov_full.launch.py.

Standalone:
  ros2 launch rov_bringup foxglove_mcap.launch.py
  ros2 launch rov_bringup foxglove_mcap.launch.py record:=false

Foxglove connection from Edge PC:
  Foxglove Studio -> Open Connection -> Foxglove WebSocket -> ws://rov-brain.local:8765

Storage:
  Bags written to /data/bags/ on NVMe. Create before first launch:
    sudo mkdir -p /data/bags && sudo chown ubuntu:ubuntu /data/bags
"""
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, ExecuteProcess, LogInfo
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node


def generate_launch_description():

    bag_output_arg = DeclareLaunchArgument(
        'bag_output_dir',
        default_value='/data/bags/dive',
        description='Base path for MCAP bag. Timestamp appended automatically.',
    )

    record_arg = DeclareLaunchArgument(
        'record',
        default_value='true',
        description='Set false to run foxglove_bridge without recording.',
    )

    # Exposes all ROS2 topics over WebSocket
    # Edge PC connects via Foxglove Studio -> ws://rov-brain.local:8765
    foxglove_bridge_node = Node(
        package='foxglove_bridge',
        executable='foxglove_bridge',
        name='foxglove_bridge',
        parameters=[{
            'port': 8765,
            'address': '0.0.0.0',           # all interfaces — required for tether access
            'tls': False,
            'send_buffer_limit': 10000000,  # 10MB — headroom for image topics
            'max_update_ms': 100,           # 10Hz cap — prevents WebSocket flooding
        }],
        output='screen',
    )

    # Records all topics to NVMe in MCAP format (Foxglove native)
    # Output dir is auto-timestamped, e.g.: /data/bags/dive_2026_05_07-14_22_05/
    mcap_recorder = ExecuteProcess(
        cmd=[
            'ros2', 'bag', 'record',
            '--all',
            '--storage', 'mcap',
            '--output', LaunchConfiguration('bag_output_dir'),
            '--max-bag-size', '0',          # no size limit — one bag per dive
        ],
        output='screen',
        condition=IfCondition(LaunchConfiguration('record')),
    )

    return LaunchDescription([
        bag_output_arg,
        record_arg,
        LogInfo(msg='foxglove_bridge: connect Foxglove Studio to ws://<RPi5-IP>:8765'),
        foxglove_bridge_node,
        mcap_recorder,
    ])