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// Copyright 2020 PAL Robotics S.L.
//
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//      notice, this list of conditions and the following disclaimer.
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//    * Redistributions in binary form must reproduce the above copyright
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//      this software without specific prior written permission.
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/*
 * @author Enrique Fernandez
 * @author Siegfried Gevatter
 * @author Jeremie Deray
 */

#ifndef TWIST_MUX__TWIST_MUX_HPP_
#define TWIST_MUX__TWIST_MUX_HPP_

#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/bool.hpp>
#include <geometry_msgs/msg/twist.hpp>

#include <list>
#include <memory>
#include <string>

using std::chrono_literals::operator""s;

namespace twist_mux
{
// Forwarding declarations:
class TwistMuxDiagnostics;
struct TwistMuxDiagnosticsStatus;
class VelocityTopicHandle;
class LockTopicHandle;

class TwistMux : public rclcpp::Node
{
public:
  template<typename T>
  using handle_container = std::list<T>;

  using velocity_topic_container = handle_container<VelocityTopicHandle>;
  using lock_topic_container = handle_container<LockTopicHandle>;

  explicit TwistMux();
  ~TwistMux() = default;

  void init();

  bool hasPriority(const VelocityTopicHandle & twist);

  void publishTwist(const geometry_msgs::msg::Twist::ConstSharedPtr & msg);

  void updateDiagnostics();

protected:
  typedef TwistMuxDiagnostics diagnostics_type;
  typedef TwistMuxDiagnosticsStatus status_type;

  rclcpp::TimerBase::SharedPtr diagnostics_timer_;

  static constexpr std::chrono::duration<int64_t> DIAGNOSTICS_PERIOD = 1s;

  std::shared_ptr<velocity_topic_container> velocity_hs_;
  std::shared_ptr<lock_topic_container> lock_hs_;

  rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr cmd_pub_;

  geometry_msgs::msg::Twist last_cmd_;

  template<typename T>
  void getTopicHandles(const std::string & param_name, handle_container<T> & topic_hs);

  int getLockPriority();

  std::shared_ptr<diagnostics_type> diagnostics_;
  std::shared_ptr<status_type> status_;
};

}  // namespace twist_mux

#endif  // TWIST_MUX__TWIST_MUX_HPP_