#include "env_interface/env_interface_base.hpp"

namespace env_interface
{

CallbackReturn EnvInterfaceBase::init(const std::string& t_env_name, const std::string& t_namespace,
                                      const rclcpp::NodeOptions& t_node_options)
{
  m_node = std::make_shared<rclcpp_lifecycle::LifecycleNode>(t_env_name, t_namespace, t_node_options, false);

  if (on_init() == CallbackReturn::FAILURE)
  {
    return CallbackReturn::FAILURE;
  }

  m_node->register_on_configure(std::bind(&EnvInterfaceBase::on_configure, this, std::placeholders::_1));
  m_node->register_on_activate(std::bind(&EnvInterfaceBase::on_activate, this, std::placeholders::_1));
  m_node->register_on_cleanup(std::bind(&EnvInterfaceBase::on_cleanup, this, std::placeholders::_1));
  m_node->register_on_deactivate(std::bind(&EnvInterfaceBase::on_deactivate, this, std::placeholders::_1));
  m_node->register_on_error(std::bind(&EnvInterfaceBase::on_error, this, std::placeholders::_1));
  m_node->register_on_shutdown(std::bind(&EnvInterfaceBase::on_shutdown, this, std::placeholders::_1));

  return CallbackReturn::SUCCESS;
}

const rclcpp_lifecycle::State& EnvInterfaceBase::configure()
{
  return getNode()->configure();
}

std::shared_ptr<rclcpp_lifecycle::LifecycleNode> EnvInterfaceBase::getNode()
{
  if (!m_node.get())
  {
    throw std::runtime_error("Lifecycle node hasn't been initialized yet");
  }
  return m_node;
}

const rclcpp_lifecycle::State& EnvInterfaceBase::getState() const
{
  return m_node->get_current_state();
}

}  // namespace env_interface