// #include "behavior_tree/BtService.hpp"
// #include "behaviortree_ros2/bt_service_node.hpp"
#include "behaviortree_ros2/bt_action_node.hpp"
// #include "rbs_skill_interfaces/srv/rbs_bt.hpp"
#include "rbs_skill_interfaces/action/rbs_bt.hpp"
#include <behaviortree_cpp/tree_node.h>
#include <behaviortree_ros2/plugins.hpp>
#include <behaviortree_ros2/ros_node_params.hpp>

#define STR_ACTION  "do"
#define STR_SID     "sid"
#define STR_COMMAND "command"
#define NODE_NAME   "rbs_interface"

template<typename T> std::string to_string(const T &t)
{
    std::stringstream ss;
    ss << t;
    return ss.str();
}

using namespace BT;
using namespace std::chrono_literals;
using RbssActionSrv = rbs_skill_interfaces::action::RbsBt;

class RbssAction : public RosActionNode<RbssActionSrv> {
public:
  RbssAction(const std::string &name, const NodeConfig &conf, const RosNodeParams &params)
      : RosActionNode<RbssActionSrv>(name, conf, params) {

    m_action = getInput<std::string>(STR_ACTION).value();
    m_command = getInput<std::string>(STR_COMMAND).value();
    RCLCPP_INFO_STREAM(logger(), "Start node RbssAction: " + m_action + "/" + m_command);

    m_client = std::make_shared<rclcpp::AsyncParametersClient>(node_.lock(), NODE_NAME);

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

  }

  static BT::PortsList providedPorts() {
    return providedBasicPorts({
      BT::InputPort<std::string>(STR_SID),
      BT::InputPort<std::string>(STR_ACTION),
      BT::InputPort<std::string>(STR_COMMAND)
      });
  }

  bool setGoal(RosActionNode::Goal& goal) override {
    getInput(STR_ACTION, goal.action);
    getInput(STR_COMMAND, goal.command);
    getInput(STR_SID, goal.sid);
    m_action = goal.action;
    m_command = goal.command;

    m_i++;
    RCLCPP_INFO_STREAM(logger(), "setGoal: " + to_string(m_i) + ") " + goal.action + "/" + goal.command + " goal.sid = " + to_string(goal.sid));
    return true;
  }

  NodeStatus onResultReceived(const WrappedResult& wr) override {
    m_i++;
    RCLCPP_INFO_STREAM(logger(), "onResultReceived: " + to_string(m_i) + ") " + m_action + "/" + m_command + " wr.result->ok - " + to_string(wr.result->ok));

    if (!wr.result->ok) {
      return NodeStatus::FAILURE;
    }
    return NodeStatus::SUCCESS;
  }

private:
  int m_i{0};
  std::string m_action{};
  std::string m_command{};
  std::shared_ptr<rclcpp::AsyncParametersClient> m_client;
};

CreateRosNodePlugin(RbssAction, "RbssAction")