#pragma once

#include <string>
#include <geometry_msgs/msg/pose.hpp>
#include "scene_monitor_interfaces/msg/grasp_pose.hpp"
// #include "scene_monitor_interfaces/msg/bounding_box.hpp"
// #include "scene_monitor_interfaces/msg/principal_properties.hpp"
#include "nlohmann_json/json.hpp"

namespace component_state_monitor
{

using json = nlohmann::json;

/* 
Description:
    Initialized: 
        - state when model is initialized by provided metadata
    Printed:
        - model is ready for manipulation and other operations in sim/real
    Posted:
        - model is posted with another
*/
enum ComponentState
{
    Initialized,
    Printed,
    Posted
};

class Component
{
public:

    Component();
    Component(const std::string &frame_name);

    ComponentState getCurrentState() const;
    std::string getFrameName() const;
    scene_monitor_interfaces::msg::GraspPose getGraspPose(const std::string &grasp_pose_name) const;
    std::vector<scene_monitor_interfaces::msg::GraspPose> getGraspPoses() const;
    geometry_msgs::msg::Pose getPlacementPose() const;

    void setFrameName(const std::string &frame_name);
    
    void initializeFromJson(json &input);
    /*
        TODO
            - create methods for get all recently needed component
              from metadata class
    */

    void updateState(const ComponentState &state);


private:

    // float _volume;
    std::string _frame_name;
    ComponentState _current_state;
    geometry_msgs::msg::Pose _placement;
    // geometry_msgs::msg::Point _center_of_mass;
    std::map<std::string, scene_monitor_interfaces::msg::GraspPose> _grasp_poses;
    // scene_monitor_interfaces::msg::BoundingBox _bounding_box;
    // scene_monitor_interfaces::msg::PrincipalProperties _principal_properties;

};

}