// Copyright 2018 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef RCLCPP_ACTION__CREATE_CLIENT_HPP_
#define RCLCPP_ACTION__CREATE_CLIENT_HPP_

#include <memory>
#include <string>

#include "rclcpp/node.hpp"

#include "rclcpp_action/client.hpp"
#include "rclcpp_action/visibility_control.hpp"

namespace rclcpp_action
{
/// Create an action client.
/**
 * This function is equivalent to \sa create_client()` however is using the individual
 * node interfaces to create the client.
 *
 * If enable_feedback_msg_optimization is set to true, an action client can handle up to 6 goals
 * simultaneously. If the number of goals exceeds the limit, optimization is automatically disabled.
 *
 * \param[in] node_base_interface The node base interface of the corresponding node.
 * \param[in] node_graph_interface The node graph interface of the corresponding node.
 * \param[in] node_logging_interface The node logging interface of the corresponding node.
 * \param[in] node_waitables_interface The node waitables interface of the corresponding node.
 * \param[in] name The action name.
 * \param[in] group The action client will be added to this callback group.
 *   If `nullptr`, then the action client is added to the default callback group.
 * \param[in] options Options to pass to the underlying `rcl_action_client_t`.
 * \param[in] enable_feedback_msg_optimization Enable feedback subscription content filter to
 *   optimize the handling of feedback messages.
 */
template<typename ActionT>
typename Client<ActionT>::SharedPtr
create_client(
  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
  rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_interface,
  const std::string & name,
  rclcpp::CallbackGroup::SharedPtr group = nullptr,
  const rcl_action_client_options_t & options = rcl_action_client_get_default_options(),
  bool enable_feedback_msg_optimization = false)
{
  std::weak_ptr<rclcpp::node_interfaces::NodeWaitablesInterface> weak_node =
    node_waitables_interface;
  std::weak_ptr<rclcpp::CallbackGroup> weak_group = group;
  bool group_is_null = (nullptr == group.get());

  auto deleter = [weak_node, weak_group, group_is_null](Client<ActionT> * ptr)
    {
      if (nullptr == ptr) {
        return;
      }
      auto shared_node = weak_node.lock();
      if (shared_node) {
        // API expects a shared pointer, give it one with a deleter that does nothing.
        std::shared_ptr<Client<ActionT>> fake_shared_ptr(ptr, [](Client<ActionT> *) {});

        if (group_is_null) {
          // Was added to default group
          shared_node->remove_waitable(fake_shared_ptr, nullptr);
        } else {
          // Was added to a specific group
          auto shared_group = weak_group.lock();
          if (shared_group) {
            shared_node->remove_waitable(fake_shared_ptr, shared_group);
          }
        }
      }
      delete ptr;
    };

  std::shared_ptr<Client<ActionT>> action_client(
    new Client<ActionT>(
      node_base_interface,
      node_graph_interface,
      node_logging_interface,
      name,
      options,
      enable_feedback_msg_optimization),
    deleter);

  node_waitables_interface->add_waitable(action_client, group);
  return action_client;
}

/// Create an action client.
/**
 *
 * If enable_feedback_msg_optimization is set to true, an action client can handle up to 6 goals
 * simultaneously. If the number of goals exceeds the limit, optimization is automatically disabled.
 *
 * \param[in] node The action client will be added to this node.
 * \param[in] name The action name.
 * \param[in] group The action client will be added to this callback group.
 *   If `nullptr`, then the action client is added to the default callback group.
 * \param[in] options Options to pass to the underlying `rcl_action_client_t`.
 * \param[in] enable_feedback_msg_optimization Enable feedback subscription content filter to
 *   optimize the handling of feedback messages.
 */
template<typename ActionT, typename NodeT>
typename Client<ActionT>::SharedPtr
create_client(
  NodeT node,
  const std::string & name,
  rclcpp::CallbackGroup::SharedPtr group = nullptr,
  const rcl_action_client_options_t & options = rcl_action_client_get_default_options(),
  bool enable_feedback_msg_optimization = false)
{
  return rclcpp_action::create_client<ActionT>(
    node->get_node_base_interface(),
    node->get_node_graph_interface(),
    node->get_node_logging_interface(),
    node->get_node_waitables_interface(),
    name,
    group,
    options,
    enable_feedback_msg_optimization);
}
}  // namespace rclcpp_action

#endif  // RCLCPP_ACTION__CREATE_CLIENT_HPP_
