from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node


def generate_launch_description() -> LaunchDescription:
    # Optional node name override from launch argument
    node_name_arg = DeclareLaunchArgument(
        'node_name', default_value='ctrlgui_node',
        description='Name of the ctrlgui node')
    host_arg = DeclareLaunchArgument(
        'host', default_value='0.0.0.0',
        description='Host interface for NiceGUI')
    port_arg = DeclareLaunchArgument(
        'port', default_value='8080',
        description='TCP port for NiceGUI')

    ld = LaunchDescription([node_name_arg, host_arg, port_arg])

    ctrlgui_node = Node(
        package='ctrlgui',
        executable='ctrlgui_node',
        name=LaunchConfiguration('node_name'),
        output='screen',
        emulate_tty=True,
        parameters=[],
        env={
            'HOST': LaunchConfiguration('host'),
            'PORT': LaunchConfiguration('port'),
        },
    )

    ld.add_action(ctrlgui_node)
    return ld