from setuptools import setup

package_name = "saltybot_bridge"

setup(
    name=package_name,
    version="0.1.0",
    packages=[package_name],
    data_files=[
        ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
        (f"share/{package_name}", ["package.xml"]),
        (f"share/{package_name}/launch", [
            "launch/bridge.launch.py",
            "launch/cmd_vel_bridge.launch.py",
        ]),
        (f"share/{package_name}/config", [
            "config/bridge_params.yaml",
            "config/cmd_vel_bridge_params.yaml",
        ]),
    ],
    install_requires=["setuptools", "pyserial"],
    zip_safe=True,
    maintainer="sl-jetson",
    maintainer_email="sl-jetson@saltylab.local",
    description="STM32 USB CDC → ROS2 serial bridge for saltybot",
    license="MIT",
    tests_require=["pytest"],
    entry_points={
        "console_scripts": [
            # RX-only telemetry bridge (does not send commands)
            "serial_bridge_node = saltybot_bridge.serial_bridge_node:main",
            # Full bidirectional bridge: telemetry RX + /cmd_vel TX + heartbeat
            "saltybot_cmd_node  = saltybot_bridge.saltybot_cmd_node:main",
            # Nav2 cmd_vel bridge: velocity limits + ramp + deadman + mode gate
            "cmd_vel_bridge_node = saltybot_bridge.cmd_vel_bridge_node:main",
        ],
    },
)