"""
personality.launch.py — Launch the saltybot personality node.

Usage
-----
  # Defaults (bundled SOUL.md, ~/.ros/saltybot_personality.db):
  ros2 launch saltybot_social_personality personality.launch.py

  # Custom persona file:
  ros2 launch saltybot_social_personality personality.launch.py \\
      soul_file:=/home/robot/my_persona/SOUL.md

  # Custom DB + faster reload:
  ros2 launch saltybot_social_personality personality.launch.py \\
      db_path:=/data/saltybot.db reload_interval:=2.0

  # Use a params file:
  ros2 launch saltybot_social_personality personality.launch.py \\
      params_file:=/my/personality_params.yaml

Dynamic reconfigure (no restart required)
-----------------------------------------
  ros2 param set /personality_node soul_file /new/SOUL.md
  ros2 param set /personality_node publish_rate 5.0
"""

import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node


def _launch_personality(context, *args, **kwargs):
    pkg_share  = get_package_share_directory("saltybot_social_personality")
    params_file = LaunchConfiguration("params_file").perform(context)
    soul_file   = LaunchConfiguration("soul_file").perform(context)
    db_path     = LaunchConfiguration("db_path").perform(context)

    # Default soul_file to bundled config if not specified
    if not soul_file:
        soul_file = os.path.join(pkg_share, "config", "SOUL.md")

    # Expand ~ in db_path
    if db_path:
        db_path = os.path.expanduser(db_path)

    inline_params = {
        "soul_file":       soul_file,
        "db_path":         db_path or os.path.expanduser("~/.ros/saltybot_personality.db"),
        "reload_interval": float(LaunchConfiguration("reload_interval").perform(context)),
        "publish_rate":    float(LaunchConfiguration("publish_rate").perform(context)),
    }

    node_params = [params_file, inline_params] if params_file else [inline_params]

    return [Node(
        package    = "saltybot_social_personality",
        executable = "personality_node",
        name       = "personality_node",
        output     = "screen",
        parameters = node_params,
    )]


def generate_launch_description():
    pkg_share = get_package_share_directory("saltybot_social_personality")
    default_params = os.path.join(pkg_share, "config", "personality_params.yaml")

    return LaunchDescription([
        DeclareLaunchArgument(
            "params_file",
            default_value=default_params,
            description="Full path to personality_params.yaml (base config)"),

        DeclareLaunchArgument(
            "soul_file",
            default_value="",
            description="Path to SOUL.md persona file (empty = bundled default)"),

        DeclareLaunchArgument(
            "db_path",
            default_value="~/.ros/saltybot_personality.db",
            description="SQLite relationship memory database path"),

        DeclareLaunchArgument(
            "reload_interval",
            default_value="5.0",
            description="SOUL.md hot-reload polling interval (s)"),

        DeclareLaunchArgument(
            "publish_rate",
            default_value="2.0",
            description="Personality state publish rate (Hz)"),

        OpaqueFunction(function=_launch_personality),
    ])