//
// Created by tlab-uav on 24-9-6.
//

#include <unitree_guide_controller/UnitreeGuideController.h>
#include <unitree_guide_controller/FSM/StatePassive.h>

namespace unitree_guide_controller {
    using config_type = controller_interface::interface_configuration_type;

    controller_interface::InterfaceConfiguration UnitreeGuideController::command_interface_configuration() const {
        controller_interface::InterfaceConfiguration conf = {config_type::INDIVIDUAL, {}};

        conf.names.reserve(joint_names_.size() * command_interface_types_.size());
        for (const auto &joint_name: joint_names_) {
            for (const auto &interface_type: command_interface_types_) {
                conf.names.push_back(joint_name + "/" += interface_type);
            }
        }

        return conf;
    }

    controller_interface::InterfaceConfiguration UnitreeGuideController::state_interface_configuration() const {
        controller_interface::InterfaceConfiguration conf = {config_type::INDIVIDUAL, {}};

        conf.names.reserve(joint_names_.size() * state_interface_types_.size());
        for (const auto &joint_name: joint_names_) {
            for (const auto &interface_type: state_interface_types_) {
                conf.names.push_back(joint_name + "/" += interface_type);
            }
        }

        return conf;
    }

    controller_interface::return_type UnitreeGuideController::
    update(const rclcpp::Time &time, const rclcpp::Duration &period) {
        if (mode_ == FSMMode::NORMAL) {
            current_state_->run();
        }

        return controller_interface::return_type::OK;
    }

    controller_interface::CallbackReturn UnitreeGuideController::on_init() {
        try {
            joint_names_ = auto_declare<std::vector<std::string> >("joints", joint_names_);
            command_interface_types_ =
                    auto_declare<std::vector<std::string> >("command_interfaces", command_interface_types_);
            state_interface_types_ =
                    auto_declare<std::vector<std::string> >("state_interfaces", state_interface_types_);

            // Initialize variables and pointers
        } catch (const std::exception &e) {
            fprintf(stderr, "Exception thrown during init stage with message: %s \n", e.what());
            return controller_interface::CallbackReturn::ERROR;
        }

        return CallbackReturn::SUCCESS;
    }

    controller_interface::CallbackReturn UnitreeGuideController::on_configure(
        const rclcpp_lifecycle::State &previous_state) {
        state_command_subscriber_ = get_node()->create_subscription<std_msgs::msg::String>(
            "state_command", 10, [this](const std_msgs::msg::String::SharedPtr msg) {
                // Handle message
                RCLCPP_INFO(get_node()->get_logger(), "Switch State: %s", msg->data.c_str());
                state_name_ = msg->data;
            });
        return CallbackReturn::SUCCESS;
    }

    controller_interface::CallbackReturn
    UnitreeGuideController::on_activate(const rclcpp_lifecycle::State &previous_state) {
        // clear out vectors in case of restart
        ctrl_comp_.clear();

        // assign command interfaces
        for (auto &interface: command_interfaces_) {
            command_interface_map_[interface.get_interface_name()]->push_back(interface);
        }

        // assign state interfaces
        for (auto &interface: state_interfaces_) {
            state_interface_map_[interface.get_interface_name()]->push_back(interface);
        }

        state_list_.passive = std::make_shared<StatePassive>(ctrl_comp_);
        state_list_.fixedStand = std::make_shared<StateFixedStand>(ctrl_comp_);

        // Initialize FSM
        current_state_ = state_list_.passive;
        current_state_->enter();
        next_state_ = current_state_;
        next_state_name_ = current_state_->state_name;
        mode_ = FSMMode::NORMAL;

        return CallbackReturn::SUCCESS;
    }

    controller_interface::CallbackReturn UnitreeGuideController::on_deactivate(
        const rclcpp_lifecycle::State &previous_state) {
        release_interfaces();
        return CallbackReturn::SUCCESS;
    }

    controller_interface::CallbackReturn
    UnitreeGuideController::on_cleanup(const rclcpp_lifecycle::State &previous_state) {
        return CallbackReturn::SUCCESS;
    }

    controller_interface::CallbackReturn
    UnitreeGuideController::on_error(const rclcpp_lifecycle::State &previous_state) {
        return CallbackReturn::SUCCESS;
    }

    controller_interface::CallbackReturn
    UnitreeGuideController::on_shutdown(const rclcpp_lifecycle::State &previous_state) {
        return CallbackReturn::SUCCESS;
    }
}

#include "pluginlib/class_list_macros.hpp"
PLUGINLIB_EXPORT_CLASS(unitree_guide_controller::UnitreeGuideController, controller_interface::ControllerInterface);