"""
foxglove_mcap.launch.py
Launches foxglove_bridge (WebSocket :8765) and the recording_manager node.

Included automatically by rov_full.launch.py.

Standalone:
  ros2 launch rov_bringup foxglove_mcap.launch.py

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

Recording:
  Managed by recording_manager node (rov_mission package).
  Bags written to /data/bags/dive_<timestamp>/ on NVMe.
  Create /data/bags before first launch if it does not exist:
    sudo mkdir -p /data/bags && sudo chown ubuntu:ubuntu /data/bags

Recording behaviour (DIR-9):
  - recording_manager starts ros2 bag record on node startup.
  - Records continuously, independent of mission state.
  - Publishes /rov/recording/active (Bool) — hard no-go gate for mission start.
  - Retention: deletes oldest dive_* dirs when /data free space < 10 GB.
  - MCAP format, zstd compression, 500 MB bag segments.
"""

from launch import LaunchDescription
from launch_ros.actions import Node


def generate_launch_description():

    # -----------------------------------------------------------------------
    # Foxglove Bridge
    # Exposes all ROS2 topics over a WebSocket for Foxglove Studio.
    # Visualisation only — does NOT record MCAP (DIR-9).
    # Connect Foxglove Studio to: ws://rov-brain.local:8765
    # -----------------------------------------------------------------------
    foxglove_bridge_node = Node(
        package='foxglove_bridge',
        executable='foxglove_bridge',
        name='foxglove_bridge',
        parameters=[{
            # Listen on all interfaces — required when connecting over tether
            'port': 8765,
            'address': '0.0.0.0',

            # TLS disabled for LAN/tether use; enable for public internet
            'tls': False,

            # 10 MB send buffer — headroom for compressed image topics
            'send_buffer_limit': 10000000,

            # 10 Hz cap on topic updates — prevents WebSocket flooding on
            # high-rate topics (IMU, EKF at 50+ Hz) without dropping data
            # for operator-relevant topics (mission status, depth at ≤10 Hz)
            'max_update_ms': 100,
        }],
        output='screen',
    )

    # -----------------------------------------------------------------------
    # Recording Manager
    # Dedicated continuous recorder node (DIR-9).
    # Manages ros2 bag record subprocess internally.
    # Starts recording on node startup — before any mission can begin.
    # Publishes /rov/recording/active as the mission start no-go gate.
    # -----------------------------------------------------------------------
    recording_manager_node = Node(
        package='rov_mission',
        executable='recording_manager',
        name='recording_manager',
        output='screen',
    )

    return LaunchDescription([
        foxglove_bridge_node,
        recording_manager_node,
    ])