"""ROS 2 Python package setup for UAV-UGV Simulation."""

from setuptools import setup, find_packages
import os
from glob import glob

package_name = 'uav_ugv_simulation'

setup(
    name=package_name,
    version='1.0.0',
    packages=find_packages(exclude=['tests']),
    data_files=[
        # Package resource index
        ('share/ament_index/resource_index/packages',
            ['resource/' + package_name]),
        # Package.xml
        ('share/' + package_name, ['package.xml']),
        # Launch files
        (os.path.join('share', package_name, 'launch'),
            glob('launch/*.py')),
        (os.path.join('share', package_name, 'launch', 'utils'),
            glob('launch/utils/*.py')),
        # Config files
        (os.path.join('share', package_name, 'config'),
            glob('config/*.yaml') + glob('config/*.parm')),
        # World files
        (os.path.join('share', package_name, 'worlds'),
            glob('worlds/*.world')),
        # Model files
        (os.path.join('share', package_name, 'models', 'iris_with_camera'),
            glob('models/iris_with_camera/*')),
        (os.path.join('share', package_name, 'models', 'iris_with_sensors'),
            glob('models/iris_with_sensors/*')),
        (os.path.join('share', package_name, 'models', 'custom_ugv'),
            glob('models/custom_ugv/*')),
        # Scripts
        (os.path.join('share', package_name, 'scripts'),
            glob('scripts/*.sh')),
    ],
    install_requires=['setuptools'],
    zip_safe=True,
    maintainer='Developer',
    maintainer_email='developer@example.com',
    description='UAV-UGV Gazebo SITL Simulation with GPS-Denied Navigation',
    license='MIT',
    tests_require=['pytest'],
    entry_points={
        'console_scripts': [
            # Vision nodes
            'visual_odom_node = src.nodes.visual_odom_node:main',
            'camera_processor = src.vision.camera_processor:main',
            'optical_flow_node = src.vision.optical_flow:main',
            
            # Localization nodes
            'position_estimator = src.localization.position_estimator:main',
            'ekf_fusion_node = src.localization.ekf_fusion:main',
            
            # Navigation nodes
            'vision_nav_node = src.nodes.vision_nav_node:main',
            'local_planner = src.navigation.local_planner:main',
            'waypoint_follower = src.navigation.waypoint_follower:main',
            
            # Control nodes
            'uav_controller = src.control.uav_controller:main',
            'ugv_controller = src.control.ugv_controller:main',
            'mission_planner = src.control.mission_planner:main',
            
            # Safety nodes
            'geofence_node = src.nodes.geofence_node:main',
            'failsafe_handler = src.safety.failsafe_handler:main',
            
            # Coordination
            'multi_vehicle_coord = src.nodes.multi_vehicle_coord:main',
        ],
    },
)