"""thermal.launch.py — Launch the Jetson thermal monitor (Issue #205).

Usage:
  ros2 launch saltybot_thermal thermal.launch.py
  ros2 launch saltybot_thermal thermal.launch.py warn_temp_c:=70.0
"""

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


def generate_launch_description():
    pkg = get_package_share_directory("saltybot_thermal")
    cfg = os.path.join(pkg, "config", "thermal_params.yaml")

    return LaunchDescription([
        DeclareLaunchArgument("publish_rate_hz",  default_value="1.0",
                              description="Publish rate (Hz)"),
        DeclareLaunchArgument("warn_temp_c",      default_value="75.0",
                              description="WARN threshold (°C)"),
        DeclareLaunchArgument("throttle_temp_c",  default_value="85.0",
                              description="THROTTLE threshold (°C)"),

        Node(
            package="saltybot_thermal",
            executable="thermal_node",
            name="thermal_node",
            output="screen",
            parameters=[
                cfg,
                {
                    "publish_rate_hz": LaunchConfiguration("publish_rate_hz"),
                    "warn_temp_c":     LaunchConfiguration("warn_temp_c"),
                    "throttle_temp_c": LaunchConfiguration("throttle_temp_c"),
                },
            ],
        ),
    ])