#include "behaviortree_ros2/bt_service_node.hpp"

#include "rcl_interfaces/msg/parameter.hpp"
#include "rcl_interfaces/srv/set_parameters.hpp"

#include "ament_index_cpp/get_package_share_directory.hpp"
#include "lifecycle_msgs/msg/transition.hpp"
#include "lifecycle_msgs/srv/change_state.hpp"
#include <behaviortree_ros2/plugins.hpp>
#include <memory>

using namespace BT;
using namespace std::chrono_literals;
using PoseEstimationSrv = lifecycle_msgs::srv::ChangeState;

class PoseEstimation : public RosServiceNode<PoseEstimationSrv> {
public:
  PoseEstimation(const std::string &name, const NodeConfig &conf,
                 const RosNodeParams &params)
      : RosServiceNode<PoseEstimationSrv>(name, conf, params) {
    RCLCPP_INFO_STREAM(logger(), "Start node.");

    m_params_client = std::make_shared<rclcpp::AsyncParametersClient>(
        node_.lock(), "/pose_estimation");

    while (!m_params_client->wait_for_service(1s)) {
      if (!rclcpp::ok()) {
        RCLCPP_ERROR(logger(),
                     "Interrupted while waiting for the service. Exiting.");
        break;
      }
      RCLCPP_WARN(logger(), "service not available, waiting again...");
    }

    // Get model name paramter from BT ports
    getInput("ObjectName", m_model_name);
  }

  bool setRequest(Request::SharedPtr &request) override {
    getInput("ReqKind", m_req_type);
    request->set__transition(transition_event(m_req_type));
    return true;
  }

  NodeStatus onResponseReceived(const Response::SharedPtr &response) override {
    if (!response->success) {
      return NodeStatus::FAILURE;
    }
    return NodeStatus::SUCCESS;
  }

  static PortsList providedPorts() {
    return providedBasicPorts({
        InputPort<std::string>("ReqKind"),
        InputPort<std::string>("ObjectName"),
        InputPort<std::string>("ObjectPath"),
    });
  }

private:
  uint8_t m_transition_id{};
  std::string m_model_name{};
  std::string m_model_type{};
  std::string m_req_type{};
  std::shared_ptr<rclcpp::AsyncParametersClient> m_params_client;
  std::vector<rcl_interfaces::msg::Parameter> m_params;
  rcl_interfaces::msg::Parameter m_param;

  lifecycle_msgs::msg::Transition
  transition_event(const std::string &req_type) {
    lifecycle_msgs::msg::Transition translation{};
    // ParamSetter param_setter(m_params_client);
    if (req_type == "configure") {
      set_mesh_param();
      // auto str_mesh_param = std::make_shared<SetParamShareDirectoryStrategy>("model_name", m_model_name);
      // param_setter.setStrategy(str_mesh_param);
      // param_setter.setParam()

      m_transition_id = lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE;
    } else if (req_type == "calibrate") {
      set_str_param();
      m_transition_id = lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE;
    } else if (req_type == "activate") {
      m_transition_id = lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE;
    } else if (req_type == "deactivate") {
      m_transition_id = lifecycle_msgs::msg::Transition::TRANSITION_DEACTIVATE;
    } else if (req_type == "cleanup") {
      m_transition_id = lifecycle_msgs::msg::Transition::TRANSITION_CLEANUP;
    }
    // calibrate
    translation.set__id(m_transition_id);
    return translation;
  }

  inline std::string build_model_path(const std::string &model_name,
                                      const std::string &package_path) {
    return package_path + "/config/" + model_name + ".ply";
  }

  inline std::string build_model_path(const std::string &model_path) {
    return model_path;
  }

  void set_str_param() {
    RCLCPP_INFO_STREAM(logger(),
                       "Set string parameter: <" + m_model_name + ">");

    std::vector<rclcpp::Parameter> params{
        rclcpp::Parameter("model_name", m_model_name)};
    m_params_client->set_parameters(params);
  }

  void set_mesh_param() {
    auto t_package_name =
        ament_index_cpp::get_package_share_directory("rbs_perception");
    m_model_type = build_model_path(m_model_name, t_package_name);
    RCLCPP_INFO_STREAM(logger(), m_model_type);

    std::vector<rclcpp::Parameter> params{
        rclcpp::Parameter("mesh_path", m_model_name)};
    m_params_client->set_parameters(params);
  }
};

CreateRosNodePlugin(PoseEstimation, "PoseEstimation");