# 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.

import sys

from ros2cli.node.direct import DirectNode
from ros2cli.node.strategy import add_arguments
from ros2cli.node.strategy import NodeStrategy
from ros2lifecycle.api import call_get_states
from ros2lifecycle.api import get_node_names
from ros2lifecycle.verb import VerbExtension
from ros2node.api import get_absolute_node_name
from ros2node.api import NodeNameCompleter


class GetVerb(VerbExtension):
    """Get lifecycle state for one or more nodes."""

    def add_arguments(self, parser, cli_name):  # noqa: D102
        add_arguments(parser)
        arg = parser.add_argument(
            'node_name', nargs='?', help='Name of the ROS node. '
            'If no name is provided, then get the state for all nodes.')
        arg.completer = NodeNameCompleter(
            include_hidden_nodes_key='include_hidden_nodes')
        parser.add_argument(
            '--include-hidden-nodes', action='store_true',
            help='Consider hidden nodes as well')
        parser.add_argument(
            '--timeout', metavar='N', type=float,
            help='Maximum time to wait for response in seconds '
                 '(default: waits indefinitely)')

    def main(self, *, args):  # noqa: D102
        with NodeStrategy(args) as node:
            node_names = get_node_names(
                node=node, include_hidden_nodes=args.include_hidden_nodes)
            node_names = {n.full_name for n in node_names}

        node_name = get_absolute_node_name(args.node_name)
        if node_name:
            if node_name not in node_names:
                return 'Node not found'
            nodes_to_query = [node_name]
        else:
            nodes_to_query = sorted(node_names)

        with DirectNode(args) as node:
            # Process and output each node's state immediately upon receipt
            for query_node_name in nodes_to_query:
                state = call_get_states(
                    node=node, node_names=[query_node_name], timeout=args.timeout)
                state = state.get(query_node_name)

                if isinstance(state, Exception):
                    print(
                        'Exception while calling service of node '
                        f"'{query_node_name}': {state}",
                        file=sys.stderr)
                    if args.node_name:
                        return 1
                    continue

                # output current state
                prefix = ''
                if not args.node_name:
                    prefix = f'{query_node_name}: '
                print(prefix + f'{state.label} [{state.id}]')
