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/*!*******************************************************************************************
 *  \file       as2_basic_behavior.hpp
 *  \brief      Aerostack2 basic behavior virtual class header file.
 *  \authors    Miguel Fernández Cortizas
 *              Pedro Arias Pérez
 *              David Pérez Saura
 *              Rafael Pérez Seguí
 ********************************************************************************/

#ifndef AS2_CORE__AS2_BASIC_BEHAVIOR_HPP_
#define AS2_CORE__AS2_BASIC_BEHAVIOR_HPP_

#include <chrono>
#include <cmath>
#include <memory>
#include <string>

#include "as2_core/aerial_platform.hpp"
#include "as2_core/node.hpp"
#include "as2_core/sensor.hpp"
#include "as2_msgs/msg/thrust.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "nav_msgs/msg/odometry.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "sensor_msgs/msg/battery_state.hpp"
#include "sensor_msgs/msg/imu.hpp"

namespace as2
{
template<class MessageT>
class BasicBehavior : public as2::Node
{
public:
  using GoalHandleAction = rclcpp_action::ServerGoalHandle<MessageT>;

  explicit BasicBehavior(const std::string & name)
  : Node(name)
  {
    this->action_server_ = rclcpp_action::create_server<MessageT>(
      this, this->generate_global_name(name),
      std::bind(&BasicBehavior::handleGoal, this, std::placeholders::_1, std::placeholders::_2),
      std::bind(&BasicBehavior::handleCancel, this, std::placeholders::_1),
      std::bind(&BasicBehavior::handleAccepted, this, std::placeholders::_1));
  }

public:
  virtual rclcpp_action::GoalResponse onAccepted(
    const std::shared_ptr<const typename MessageT::Goal> goal) = 0;
  virtual rclcpp_action::CancelResponse onCancel(
    const std::shared_ptr<GoalHandleAction> goal_handle) = 0;
  virtual void onExecute(
    const std::shared_ptr<GoalHandleAction> goal_handle) = 0;    // return true when finished

private:
  rclcpp_action::GoalResponse handleGoal(
    const rclcpp_action::GoalUUID & uuid,
    std::shared_ptr<const typename MessageT::Goal> goal)
  {
    RCLCPP_DEBUG(this->get_logger(), "Received goal request with UUID: %d", uuid);
    return onAccepted(goal);
  }

  rclcpp_action::CancelResponse handleCancel(const std::shared_ptr<GoalHandleAction> goal_handle)
  {
    RCLCPP_INFO(this->get_logger(), "Request to cancel goal received");
    return onCancel(goal_handle);
  }

  // TODO(miferco97): explore the use of Timers instead std::thread
  void handleAccepted(const std::shared_ptr<GoalHandleAction> goal_handle)
  {
    // this needs to return quickly to avoid blocking the executor, so spin up a new thread
    if (execution_thread_.joinable()) {
      execution_thread_.join();
    }
    execution_thread_ =
      std::thread(std::bind(&BasicBehavior::onExecute, this, std::placeholders::_1), goal_handle);
  }

private:
  std::thread execution_thread_;
  typename rclcpp_action::Server<MessageT>::SharedPtr action_server_;
};  // BasicBehavior class

}  // end namespace as2

#endif  // AS2_CORE__AS2_BASIC_BEHAVIOR_HPP_