#include "behaviortree_ros2/bt_service_node.hpp"

#include "behaviortree_ros2/plugins.hpp"
#include <behaviortree_cpp/basic_types.h>
// #include <geometry_msgs/msg/detail/point__struct.hpp>
#include "rbs_skill_interfaces/srv/get_pick_place_poses.hpp"
// #include "rbs_mill_interfaces"
// #include "rbs_mill_interfaces/srv/get_slot_grasping_pose.hpp"
#include "rbs_mill_interfaces/srv/get_grasping_pose.hpp"
#include <geometry_msgs/msg/detail/pose__struct.hpp>
#include <geometry_msgs/msg/detail/pose_array__struct.hpp>
#include <geometry_msgs/msg/detail/quaternion__struct.hpp>
#include <memory>
// #include <rbs_utils_interfaces/srv/detail/get_grasp_pose__struct.hpp>
#include <rclcpp/logging.hpp>
#include <string>

using GraspingService = rbs_mill_interfaces::srv::GetGraspingPose;
using namespace BT;

class GetGraspPose : public RosServiceNode<GraspingService> {
public:
  GetGraspPose(const std::string &name, const NodeConfig &conf,
               const RosNodeParams &params)
      : RosServiceNode<GraspingService>(name, conf, params) {

    RCLCPP_INFO(this->logger(), "Starting GetSlotGraspingPose");
  }

  static PortsList providedPorts() {
    return providedBasicPorts(
        {InputPort<std::string>("from_pose"),
         InputPort<std::string>("relative_to"),
         OutputPort<std::shared_ptr<geometry_msgs::msg::Pose>>("grasp"),
         OutputPort<std::shared_ptr<geometry_msgs::msg::Pose>>("pregrasp"),
         OutputPort<std::shared_ptr<geometry_msgs::msg::Pose>>("postgrasp")});
  }

  bool setRequest(Request::SharedPtr &request) override {
    RCLCPP_INFO(this->logger(), "[%s] Starting send request for: [%s]",
                name().c_str(), this->service_name_.c_str());
    if (!getInput("from_pose", request->pose_name)) {
      RCLCPP_ERROR(this->node_.lock()->get_logger(),
                   "[%s] Failed to get slot_name from input port",
                   name().c_str());
      return false;
    }
    if (!getInput("relative_to", request->relative_to)) {
      RCLCPP_ERROR(this->node_.lock()->get_logger(),
                   "[%s] Failed to get relative_to from input port",
                   name().c_str());
      return false;
    }
    request->action_type = "pick";
    return true;
  }

  NodeStatus onResponseReceived(const Response::SharedPtr &response) override {
    if (!response->ok) {
      RCLCPP_ERROR(this->node_.lock()->get_logger(),
                   "[%s] Response indicates failure.", name().c_str());
      return NodeStatus::FAILURE;
    }
    RCLCPP_INFO(this->node_.lock()->get_logger(),
                "[%s] Response received successfully.", name().c_str());

    auto grasp =
        std::make_shared<geometry_msgs::msg::Pose>(response->grasp_poses.pose);
    auto pregrasp = std::make_shared<geometry_msgs::msg::Pose>(
        response->grasp_poses.pre_pose);
    auto postgrasp = std::make_shared<geometry_msgs::msg::Pose>(
        response->grasp_poses.post_pose);

    if (!grasp || !pregrasp || !postgrasp) {
      RCLCPP_ERROR(this->logger(), "[%s] Response poses are empty",
                   name().c_str());
      return NodeStatus::FAILURE;
    }

    setOutput("grasp", grasp);
    setOutput("pregrasp", pregrasp);
    setOutput("postgrasp", postgrasp);

    return NodeStatus::SUCCESS;
  }
  // virtual NodeStatus onFailure(ServiceNodeErrorCode error) override {}
};

CreateRosNodePlugin(GetGraspPose, "GetSlotGraspPoses");