# Copyright 2020 PAL Robotics S.L.
#
# 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 controller_manager import configure_controller, list_controllers, switch_controllers

from ros2cli.node.direct import add_arguments
from ros2cli.node.strategy import NodeStrategy
from ros2cli.verb import VerbExtension

from ros2controlcli.api import add_controller_mgr_parsers, LoadedControllerNameCompleter


class SetControllerStateVerb(VerbExtension):
    """Adjust the state of the controller."""

    def add_arguments(self, parser, cli_name):
        add_arguments(parser)
        arg = parser.add_argument('controller_name', help='Name of the controller to be changed')
        arg.completer = LoadedControllerNameCompleter()
        arg = parser.add_argument(
            'state',
            choices=['configure', 'start', 'stop'],
            help='State in which the controller should be changed to',
        )
        add_controller_mgr_parsers(parser)

    def main(self, *, args):
        with NodeStrategy(args) as node:
            controllers = list_controllers(node, args.controller_manager).controller

            try:
                matched_controller = [c for c in controllers if c.name == args.controller_name][0]
            except IndexError:
                return f'controller {args.controller_name} does not seem to be loaded'

            if args.state == 'configure':
                if matched_controller.state != 'unconfigured':
                    return f'cannot configure {matched_controller.name} ' \
                           f'from its current state {matched_controller.state}'

                response = configure_controller(
                    node, args.controller_manager, args.controller_name
                )
                if not response.ok:
                    return 'Error configuring controller, check controller_manager logs'

                print(f'successfully configured {args.controller_name}')
                return 0

            if args.state == 'start':
                if matched_controller.state != 'inactive':
                    return f'cannot start {matched_controller.name} ' \
                           f'from its current state {matched_controller.state}'
                response = switch_controllers(
                    node, args.controller_manager, [], [args.controller_name], True, True, 5.0
                )
                if not response.ok:
                    return 'Error starting controller, check controller_manager logs'

                print(f'successfully started {args.controller_name}')
                return 0

            if args.state == 'stop':
                if matched_controller.state != 'active':
                    return f'cannot stop {matched_controller.name} ' \
                           f'from its current state {matched_controller.state}'

                response = switch_controllers(
                    node, args.controller_manager, [args.controller_name], [], True, True, 5.0
                )
                if not response.ok:
                    return 'Error stopping controller, check controller_manager logs'

                print(f'successfully stopped {args.controller_name}')
                return 0
