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/*
 * Copyright (c) 2020, Michael Ferguson
 * Copyright (c) 2014-2020, Fetch Robotics Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Fetch Robotics Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL FETCH ROBOTICS INC. BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
 * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

// Author: Michael Ferguson

#ifndef ROBOT_CONTROLLERS_INTERFACE__CONTROLLER_MANAGER_H_
#define ROBOT_CONTROLLERS_INTERFACE__CONTROLLER_MANAGER_H_

#include <memory>
#include <string>
#include <vector>

#include "rclcpp/rclcpp.hpp"
#include "robot_controllers_msgs/srv/query_controller_states.hpp"
#include "robot_controllers_interface/joint_handle.h"
#include "robot_controllers_interface/gyro_handle.h"
#include "robot_controllers_interface/controller.h"
#include "robot_controllers_interface/controller_loader.h"
#include "tf2_ros/buffer.h"
#include "tf2_ros/transform_listener.h"

namespace robot_controllers_interface
{

class ControllerManager : public std::enable_shared_from_this<ControllerManager>
{
  using ControllerList = std::vector<ControllerLoaderPtr>;
  using JointHandleList = std::vector<JointHandlePtr> ;
  using GyroHandleList = std::vector<GyroHandlePtr>;

public:
  ControllerManager();

  virtual ~ControllerManager()
  {
  }

  virtual int init(std::shared_ptr<rclcpp::Node> node,
                   std::shared_ptr<tf2_ros::Buffer> buffer);

  virtual int init(std::shared_ptr<rclcpp::Node> node);

  virtual int requestStart(const std::string& name);

  virtual int requestStop(const std::string& name);

  virtual void update(const rclcpp::Time& time, const rclcpp::Duration& dt);

  virtual void reset();

  bool addJointHandle(JointHandlePtr& joint_handle_ptr);

  bool addGyroHandle(GyroHandlePtr gyro_hanle_ptr);

  HandlePtr getHandle(const std::string& name);

  JointHandlePtr getJointHandle(const std::string& name);

  GyroHandlePtr getGyroHandle(const std::string& name);

  std::vector<std::string> getJointNames();

  std::vector<std::string> getControllerNames();

  std::shared_ptr<tf2_ros::Buffer> getTransformBuffer();

private:
  void callback(
    const std::shared_ptr<robot_controllers_msgs::srv::QueryControllerStates::Request> request,
    std::shared_ptr<robot_controllers_msgs::srv::QueryControllerStates::Response> response);

  void getState(std::vector<robot_controllers_msgs::msg::ControllerState>& states);

  bool load(const std::string& name);

  ControllerList controllers_;
  JointHandleList joints_;
  GyroHandleList gyros_;

  rclcpp::Node::SharedPtr node_;
  rclcpp::Service<robot_controllers_msgs::srv::QueryControllerStates>::SharedPtr server_;

  std::shared_ptr<tf2_ros::Buffer> tf2_buffer_;
  std::shared_ptr<tf2_ros::TransformListener> tf2_listener_;
};

using ControllerManagerPtr = std::shared_ptr<ControllerManager>;

}  // namespace robot_controllers_interface

#endif  // ROBOT_CONTROLLERS_INTERFACE__CONTROLLER_MANAGER_H_