# Copyright 2021 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.

from ros2cli.node.direct import DirectNode
from ros2cli.node.strategy import add_arguments
from ros2cli.node.strategy import NodeStrategy
from ros2node.api import get_absolute_node_name
from ros2node.api import NodeNameCompleter
from ros2node.api import wait_for_node
from ros2param.api import load_parameter_file
from ros2param.verb import VerbExtension


class LoadVerb(VerbExtension):
    """Load parameter file for a node."""

    def add_arguments(self, parser, cli_name):  # noqa: D102
        add_arguments(parser)
        arg = parser.add_argument(
            'node_name', help='Name of the ROS node')
        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(
            'parameter_file', help='Parameter file')
        parser.add_argument(
            '--no-use-wildcard', action='store_true',
            help="Do not load parameters in the '/**' namespace into the node")
        parser.add_argument(
            '--timeout', metavar='N', type=int, default=1,
            help='Wait for N seconds until node becomes available (default %(default)s sec)')
        parser.add_argument(
            '--service-timeout', metavar='N', type=float,
            help='Maximum time to wait for service response in seconds '
                 '(default: waits indefinitely)')

    def main(self, *, args):  # noqa: D102
        node_name = get_absolute_node_name(args.node_name)
        with NodeStrategy(args) as node:
            if not wait_for_node(node, node_name, args.include_hidden_nodes, args.timeout):
                return 'Node not found'

        with DirectNode(args) as node:
            load_parameter_file(
                node=node, node_name=node_name, parameter_file=args.parameter_file,
                use_wildcard=not args.no_use_wildcard, timeout=args.service_timeout)
