#!/usr/bin/env python3
"""Start the HCAN-connected O12 right hand and its safe position GUI."""

from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription, TimerAction
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
    o12_driver = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            PathJoinSubstitution([
                FindPackageShare("omnihand_node"),
                "launch",
                "omnihand_pro_2025_node.launch.py",
            ])
        )
    )

    o12_gui = Node(
        package="gui_control",
        executable="gui_control",
        name="o12_right_gui_control",
        output="screen",
        parameters=[{
            "hand_type": "right",
            "hand_joint": "O12",
            # Commands are coalesced, so dragging a slider sends at most 10 Hz.
            "topic_hz": 10,
            "is_arc": False,
            "topic_prefix": "",
        }],
    )

    return LaunchDescription([
        o12_driver,
        # Give the CANFD driver a moment to claim and initialise the adapter.
        TimerAction(period=1.5, actions=[o12_gui]),
    ])