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// Copyright 2023 Universidad Politécnica de Madrid
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/*!*******************************************************************************************
 *  \file       aerial_platform.hpp
 *  \brief      Aerostack2 Aerial Platformm class header file.
 *  \authors    Miguel Fernández Cortizas
 *              Pedro Arias Pérez
 *              David Pérez Saura
 *              Rafael Pérez Seguí
 ********************************************************************************/

#ifndef AS2_CORE__AERIAL_PLATFORM_HPP_
#define AS2_CORE__AERIAL_PLATFORM_HPP_

#include <chrono>
#include <functional>
#include <memory>
#include <string>
#include <vector>

#include "as2_core/names/services.hpp"
#include "as2_core/names/topics.hpp"
#include "as2_core/platform_state_machine.hpp"
#include "as2_msgs/msg/alert_event.hpp"
#include "as2_msgs/msg/control_mode.hpp"
#include "as2_msgs/msg/platform_info.hpp"
#include "as2_msgs/msg/platform_status.hpp"
#include "as2_msgs/msg/thrust.hpp"
#include "as2_msgs/msg/trajectory_point.hpp"
#include "as2_msgs/srv/list_control_modes.hpp"
#include "as2_msgs/srv/set_control_mode.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "nav_msgs/msg/odometry.hpp"
#include "as2_core/node.hpp"
#include "rclcpp/publisher.hpp"
#include "rclcpp/publisher_options.hpp"
#include "rclcpp/rclcpp.hpp"
#include "std_srvs/srv/set_bool.hpp"
#include "utils/control_mode_utils.hpp"
#include "utils/yaml_utils.hpp"

namespace as2
{

class AerialPlatform : public as2::Node
{
private:
  void initialize();
  bool sending_commands_ = false;

  rclcpp::TimerBase::SharedPtr platform_cmd_timer_;
  rclcpp::TimerBase::SharedPtr platform_info_timer_;
  as2::PlatformStateMachine state_machine_;
  std::vector<uint8_t> available_control_modes_;

protected:
  float cmd_freq_;
  float info_freq_;

  as2_msgs::msg::TrajectoryPoint command_trajectory_msg_;
  geometry_msgs::msg::PoseStamped command_pose_msg_;
  geometry_msgs::msg::TwistStamped command_twist_msg_;
  as2_msgs::msg::Thrust command_thrust_msg_;
  as2_msgs::msg::PlatformInfo platform_info_msg_;

public:
  explicit AerialPlatform(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());

  AerialPlatform(
    const std::string & ns, const rclcpp::NodeOptions & options = rclcpp::NodeOptions());

  ~AerialPlatform() {}

  virtual void configureSensors() = 0;

  virtual bool ownSendCommand() = 0;

  virtual bool ownSetArmingState(bool state) = 0;

  virtual bool ownSetOffboardControl(bool offboard) = 0;

  virtual bool ownSetPlatformControlMode(const as2_msgs::msg::ControlMode & msg) = 0;

  virtual bool ownTakeoff() {return false;}

  virtual bool ownLand() {return false;}

  virtual void ownKillSwitch() = 0;

  virtual void ownStopPlatform() = 0;

protected:
  bool setArmingState(bool state);

  bool setOffboardControl(bool offboard);

  bool setPlatformControlMode(const as2_msgs::msg::ControlMode & msg);

  bool takeoff();

  bool land();

  void alertEvent(const as2_msgs::msg::AlertEvent & msg);

  virtual void sendCommand();

private:
  void loadControlModes(const std::string & filename);

  // Getters

public:
  bool handleStateMachineEvent(const as2_msgs::msg::PlatformStateMachineEvent & event)
  {
    return state_machine_.processEvent(event);
  }

  bool handleStateMachineEvent(const int8_t & event) {return state_machine_.processEvent(event);}

  inline bool getArmingState() const {return platform_info_msg_.armed;}

  inline bool getConnectedStatus() const {return platform_info_msg_.connected;}

  inline bool getOffboardMode() const {return platform_info_msg_.offboard;}

  inline as2_msgs::msg::ControlMode & getControlMode()
  {
    return platform_info_msg_.current_control_mode;
  }

  inline bool isControlModeSettled() const
  {
    return platform_info_msg_.current_control_mode.control_mode !=
           platform_info_msg_.current_control_mode.UNSET;
  }

protected:
  bool has_new_references_ = false;

  // ROS publishers & subscribers

private:
  rclcpp::Publisher<as2_msgs::msg::PlatformInfo>::SharedPtr platform_info_pub_;

  rclcpp::Subscription<as2_msgs::msg::TrajectoryPoint>::SharedPtr trajectory_command_sub_;
  rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr pose_command_sub_;
  rclcpp::Subscription<geometry_msgs::msg::TwistStamped>::SharedPtr twist_command_sub_;
  rclcpp::Subscription<as2_msgs::msg::Thrust>::SharedPtr thrust_command_sub_;
  rclcpp::Subscription<as2_msgs::msg::AlertEvent>::SharedPtr alert_event_sub_;

  void publishPlatformInfo()
  {
    platform_info_msg_.header.stamp = this->now();
    platform_info_msg_.status = state_machine_.getState();
    platform_info_pub_->publish(platform_info_msg_);
  }

  void alertEventCallback(const as2_msgs::msg::AlertEvent::SharedPtr msg);

  // ROS Services & srv callbacks

private:
  rclcpp::Service<as2_msgs::srv::SetControlMode>::SharedPtr set_platform_mode_srv_;
  rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_arming_state_srv_;
  rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_offboard_mode_srv_;
  rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr platform_takeoff_srv_;
  rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr platform_land_srv_;
  rclcpp::Service<as2_msgs::srv::ListControlModes>::SharedPtr list_control_modes_srv_;

  void setPlatformControlModeSrvCall(
    const std::shared_ptr<as2_msgs::srv::SetControlMode::Request> request,
    std::shared_ptr<as2_msgs::srv::SetControlMode::Response> response);

  void setArmingStateSrvCall(
    const std::shared_ptr<std_srvs::srv::SetBool::Request> request,
    std::shared_ptr<std_srvs::srv::SetBool::Response> response);

  void setOffboardModeSrvCall(
    const std::shared_ptr<std_srvs::srv::SetBool::Request> request,
    std::shared_ptr<std_srvs::srv::SetBool::Response> response);

  void platformTakeoffSrvCall(
    const std::shared_ptr<std_srvs::srv::SetBool::Request> request,
    std::shared_ptr<std_srvs::srv::SetBool::Response> response);

  void platformLandSrvCall(
    const std::shared_ptr<std_srvs::srv::SetBool::Request> request,
    std::shared_ptr<std_srvs::srv::SetBool::Response> response);

  void listControlModesSrvCall(
    const std::shared_ptr<as2_msgs::srv::ListControlModes::Request> request,
    std::shared_ptr<as2_msgs::srv::ListControlModes::Response> response);
};  // class AerialPlatform
}  // namespace as2

#endif  // AS2_CORE__AERIAL_PLATFORM_HPP_