// 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.

#include <gtest/gtest.h>

#include <rcl/allocator.h>
#include <rcl/time.h>
#include <rcl/types.h>

#include <rcl_action/names.h>
#include <rcl_action/default_qos.h>

#include <rclcpp/clock.hpp>
#include <rclcpp/exceptions.hpp>
#include <rclcpp/executors.hpp>
#include <rclcpp/executors/multi_threaded_executor.hpp>
#include <rclcpp/node.hpp>
#include <rclcpp/publisher.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp/service.hpp>
#include <rclcpp/time.hpp>

#include <test_msgs/action/fibonacci.hpp>

#include <map>
#include <memory>
#include <string>
#include <utility>
#include <thread>
#include <chrono>

#include "rclcpp_action/exceptions.hpp"
#include "rclcpp_action/create_client.hpp"
#include "rclcpp_action/client.hpp"
#include "rclcpp_action/types.hpp"

using namespace std::chrono_literals;

class TestClient : public ::testing::Test
{
protected:
  using ActionType = test_msgs::action::Fibonacci;
  using ActionGoal = ActionType::Goal;
  using ActionGoalHandle = rclcpp_action::ClientGoalHandle<ActionType>;
  using ActionGoalRequestService = ActionType::GoalRequestService;
  using ActionGoalRequest = ActionGoalRequestService::Request;
  using ActionGoalResponse = ActionGoalRequestService::Response;
  using ActionGoalResultService = ActionType::GoalResultService;
  using ActionGoalResultRequest = ActionGoalResultService::Request;
  using ActionGoalResultResponse = ActionGoalResultService::Response;
  using ActionCancelGoalService = ActionType::CancelGoalService;
  using ActionCancelGoalRequest = ActionType::CancelGoalService::Request;
  using ActionCancelGoalResponse = ActionType::CancelGoalService::Response;
  using ActionStatusMessage = ActionType::GoalStatusMessage;
  using ActionFeedbackMessage = ActionType::Feedback;
  using ActionFeedback = ActionType::Feedback;

  static void SetUpTestCase()
  {
    rclcpp::init(0, nullptr);
  }

  void SetUp()
  {
    rcl_allocator_t allocator = rcl_get_default_allocator();

    server_node = std::make_shared<rclcpp::Node>(server_node_name, namespace_name);

    char * goal_service_name = nullptr;
    rcl_ret_t ret = rcl_action_get_goal_service_name(
      action_name, allocator, &goal_service_name);
    ASSERT_EQ(RCL_RET_OK, ret);
    goal_service = server_node->create_service<ActionGoalRequestService>(
      goal_service_name,
      [this](
        const ActionGoalRequest::SharedPtr request,
        ActionGoalResponse::SharedPtr response)
      {
        response->stamp = clock.now();
        response->accepted = (request->order >= 0);
        if (response->accepted) {
          goals[request->action_goal_id.uuid] = {request, response};
        }
      });
    ASSERT_TRUE(goal_service != nullptr);
    allocator.deallocate(goal_service_name, allocator.state);

    char * result_service_name = nullptr;
    ret = rcl_action_get_result_service_name(
      action_name, allocator, &result_service_name);
    ASSERT_EQ(RCL_RET_OK, ret);
    result_service = server_node->create_service<ActionGoalResultService>(
      result_service_name,
      [this](
        const ActionGoalResultRequest::SharedPtr request,
        ActionGoalResultResponse::SharedPtr response)
      {
        if (goals.count(request->action_goal_id.uuid) == 1) {
          auto goal_request = goals[request->action_goal_id.uuid].first;
          auto goal_response = goals[request->action_goal_id.uuid].second;
          ActionStatusMessage status_message;
          rclcpp_action::GoalStatus goal_status;
          goal_status.goal_info.goal_id.uuid = goal_request->action_goal_id.uuid;
          goal_status.goal_info.stamp = goal_response->stamp;
          goal_status.status = rclcpp_action::GoalStatus::STATUS_EXECUTING;
          status_message.status_list.push_back(goal_status);
          status_publisher->publish(status_message);
          client_executor.spin_once();
          ActionFeedbackMessage feedback_message;
          feedback_message.action_goal_id.uuid = goal_request->action_goal_id.uuid;
          feedback_message.sequence.push_back(0);
          feedback_publisher->publish(feedback_message);
          client_executor.spin_once();
          if (goal_request->order > 0) {
            feedback_message.sequence.push_back(1);
            feedback_publisher->publish(feedback_message);
            client_executor.spin_once();
            for (int i = 1; i < goal_request->order; ++i) {
              feedback_message.sequence.push_back(
                feedback_message.sequence[i] + feedback_message.sequence[i - 1]);
              feedback_publisher->publish(feedback_message);
              client_executor.spin_once();
            }
          }
          goal_status.status = rclcpp_action::GoalStatus::STATUS_SUCCEEDED;
          status_message.status_list[0] = goal_status;
          status_publisher->publish(status_message);
          client_executor.spin_once();
          response->sequence = feedback_message.sequence;
          response->action_status = rclcpp_action::GoalStatus::STATUS_SUCCEEDED;
          goals.erase(request->action_goal_id.uuid);
        } else {
          response->action_status = rclcpp_action::GoalStatus::STATUS_UNKNOWN;
        }
      });
    ASSERT_TRUE(result_service != nullptr);
    allocator.deallocate(result_service_name, allocator.state);

    char * cancel_service_name = nullptr;
    ret = rcl_action_get_cancel_service_name(
      action_name, allocator, &cancel_service_name);
    ASSERT_EQ(RCL_RET_OK, ret);
    cancel_service = server_node->create_service<ActionCancelGoalService>(
      cancel_service_name,
      [this](
        const ActionCancelGoalRequest::SharedPtr request,
        ActionCancelGoalResponse::SharedPtr response)
      {
        rclcpp_action::GoalID zero_uuid;
        std::fill(zero_uuid.begin(), zero_uuid.end(), 0u);
        const rclcpp::Time cancel_stamp = request->goal_info.stamp;
        bool cancel_all = (
          request->goal_info.goal_id.uuid == zero_uuid &&
          cancel_stamp == zero_stamp);
        ActionStatusMessage status_message;
        auto it = goals.begin();
        while (it != goals.end()) {
          auto goal_request = it->second.first;
          auto goal_response = it->second.second;
          const rclcpp::Time goal_stamp = goal_response->stamp;
          bool cancel_this = (
            request->goal_info.goal_id.uuid == goal_request->action_goal_id.uuid ||
            cancel_stamp > goal_stamp);
          if (cancel_all || cancel_this) {
            rclcpp_action::GoalStatus goal_status;
            goal_status.goal_info.goal_id.uuid = goal_request->action_goal_id.uuid;
            goal_status.goal_info.stamp = goal_response->stamp;
            goal_status.status = rclcpp_action::GoalStatus::STATUS_CANCELED;
            status_message.status_list.push_back(goal_status);
            response->goals_canceling.push_back(goal_status.goal_info);
            it = goals.erase(it);
          } else {
            ++it;
          }
        }
        status_publisher->publish(status_message);
        client_executor.spin_once();
      });
    ASSERT_TRUE(cancel_service != nullptr);
    allocator.deallocate(cancel_service_name, allocator.state);

    char * feedback_topic_name = nullptr;
    ret = rcl_action_get_feedback_topic_name(
      action_name, allocator, &feedback_topic_name);
    ASSERT_EQ(RCL_RET_OK, ret);
    feedback_publisher = server_node->create_publisher<ActionFeedbackMessage>(feedback_topic_name);
    ASSERT_TRUE(feedback_publisher != nullptr);
    allocator.deallocate(feedback_topic_name, allocator.state);

    char * status_topic_name = nullptr;
    ret = rcl_action_get_status_topic_name(
      action_name, allocator, &status_topic_name);
    ASSERT_EQ(RCL_RET_OK, ret);
    status_publisher = server_node->create_publisher<ActionStatusMessage>(
      status_topic_name, rcl_action_qos_profile_status_default);
    ASSERT_TRUE(status_publisher != nullptr);
    allocator.deallocate(status_topic_name, allocator.state);
    server_executor.add_node(server_node);

    client_node = std::make_shared<rclcpp::Node>(client_node_name, namespace_name);
    client_executor.add_node(client_node);

    ASSERT_EQ(RCL_RET_OK, rcl_enable_ros_time_override(clock.get_clock_handle()));
    ASSERT_EQ(RCL_RET_OK, rcl_set_ros_time_override(clock.get_clock_handle(), RCL_S_TO_NS(1)));
  }

  void Teardown()
  {
    status_publisher.reset();
    feedback_publisher.reset();
    cancel_service.reset();
    result_service.reset();
    goal_service.reset();
    server_node.reset();
    client_node.reset();
  }

  template<typename FutureT>
  void dual_spin_until_future_complete(std::shared_future<FutureT> & future)
  {
    std::future_status status;
    do {
      server_executor.spin_some();
      client_executor.spin_some();
      status = future.wait_for(std::chrono::seconds(0));
    } while (std::future_status::ready != status);
  }

  rclcpp::Clock clock{RCL_ROS_TIME};
  const rclcpp::Time zero_stamp{0, 0, RCL_ROS_TIME};

  rclcpp::Node::SharedPtr server_node;
  rclcpp::executors::SingleThreadedExecutor server_executor;
  rclcpp::Node::SharedPtr client_node;
  rclcpp::executors::SingleThreadedExecutor client_executor;
  const char * const server_node_name{"fibonacci_action_test_server"};
  const char * const client_node_name{"fibonacci_action_test_client"};
  const char * const namespace_name{"/rclcpp_action/test/client"};
  const char * const action_name{"fibonacci_test"};

  std::map<
    rclcpp_action::GoalID,
    std::pair<
      typename ActionGoalRequest::SharedPtr,
      typename ActionGoalResponse::SharedPtr>> goals;
  typename rclcpp::Service<ActionGoalRequestService>::SharedPtr goal_service;
  typename rclcpp::Service<ActionGoalResultService>::SharedPtr result_service;
  typename rclcpp::Service<ActionCancelGoalService>::SharedPtr cancel_service;
  typename rclcpp::Publisher<ActionFeedbackMessage>::SharedPtr feedback_publisher;
  typename rclcpp::Publisher<ActionStatusMessage>::SharedPtr status_publisher;
};

TEST_F(TestClient, construction_and_destruction)
{
  ASSERT_NO_THROW(rclcpp_action::create_client<ActionType>(client_node, action_name).reset());
}

TEST_F(TestClient, async_send_goal_but_ignore_feedback_and_result)
{
  auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);

  ActionGoal bad_goal;
  bad_goal.order = -5;
  auto future_goal_handle = action_client->async_send_goal(bad_goal, nullptr, true);
  dual_spin_until_future_complete(future_goal_handle);
  EXPECT_EQ(nullptr, future_goal_handle.get().get());

  ActionGoal good_goal;
  good_goal.order = 5;
  future_goal_handle = action_client->async_send_goal(good_goal, nullptr, true);
  dual_spin_until_future_complete(future_goal_handle);
  auto goal_handle = future_goal_handle.get();
  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
  EXPECT_FALSE(goal_handle->is_feedback_aware());
  EXPECT_FALSE(goal_handle->is_result_aware());
  EXPECT_THROW(goal_handle->async_result(), rclcpp_action::exceptions::UnawareGoalHandleError);
}

TEST_F(TestClient, async_send_goal_and_ignore_feedback_but_wait_for_result)
{
  auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);

  ActionGoal goal;
  goal.order = 5;
  auto future_goal_handle = action_client->async_send_goal(goal);
  dual_spin_until_future_complete(future_goal_handle);
  auto goal_handle = future_goal_handle.get();
  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
  EXPECT_FALSE(goal_handle->is_feedback_aware());
  EXPECT_TRUE(goal_handle->is_result_aware());
  auto future_result = goal_handle->async_result();
  dual_spin_until_future_complete(future_result);
  auto result = future_result.get();
  ASSERT_EQ(6ul, result.response->sequence.size());
  EXPECT_EQ(0, result.response->sequence[0]);
  EXPECT_EQ(1, result.response->sequence[1]);
  EXPECT_EQ(5, result.response->sequence[5]);
}

TEST_F(TestClient, async_send_goal_with_feedback_and_result)
{
  auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);

  ActionGoal goal;
  goal.order = 4;
  int feedback_count = 0;
  auto future_goal_handle = action_client->async_send_goal(
    goal,
    [&feedback_count](
      typename ActionGoalHandle::SharedPtr goal_handle,
      const std::shared_ptr<const ActionFeedback> feedback) mutable
    {
      (void)goal_handle;
      (void)feedback;
      feedback_count++;
    });
  dual_spin_until_future_complete(future_goal_handle);
  auto goal_handle = future_goal_handle.get();
  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
  EXPECT_TRUE(goal_handle->is_feedback_aware());
  EXPECT_TRUE(goal_handle->is_result_aware());
  auto future_result = goal_handle->async_result();
  dual_spin_until_future_complete(future_result);
  auto result = future_result.get();

  ASSERT_EQ(5u, result.response->sequence.size());
  EXPECT_EQ(3, result.response->sequence.back());
  EXPECT_EQ(5, feedback_count);
}

TEST_F(TestClient, async_cancel_one_goal)
{
  auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);

  ActionGoal goal;
  goal.order = 5;
  auto future_goal_handle = action_client->async_send_goal(goal, nullptr, true);
  dual_spin_until_future_complete(future_goal_handle);
  auto goal_handle = future_goal_handle.get();
  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());

  auto future_cancel = action_client->async_cancel_goal(goal_handle);
  dual_spin_until_future_complete(future_cancel);
  bool goal_canceled = future_cancel.get();
  EXPECT_TRUE(goal_canceled);
}

TEST_F(TestClient, async_cancel_all_goals)
{
  auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);

  ActionGoal goal;
  goal.order = 6;
  auto future_goal_handle0 = action_client->async_send_goal(goal, nullptr, true);
  dual_spin_until_future_complete(future_goal_handle0);
  auto goal_handle0 = future_goal_handle0.get();

  ASSERT_EQ(RCL_RET_OK, rcl_set_ros_time_override(clock.get_clock_handle(), RCL_S_TO_NS(2)));

  goal.order = 8;
  auto future_goal_handle1 = action_client->async_send_goal(goal, nullptr, true);
  dual_spin_until_future_complete(future_goal_handle1);
  auto goal_handle1 = future_goal_handle1.get();

  if (goal_handle1->get_goal_id() < goal_handle0->get_goal_id()) {
    goal_handle0.swap(goal_handle1);
  }

  ASSERT_EQ(RCL_RET_OK, rcl_set_ros_time_override(clock.get_clock_handle(), RCL_S_TO_NS(3)));

  auto future_cancel_all = action_client->async_cancel_all_goals();
  dual_spin_until_future_complete(future_cancel_all);
  auto cancel_response = future_cancel_all.get();

  ASSERT_EQ(2ul, cancel_response->goals_canceling.size());
  EXPECT_EQ(goal_handle0->get_goal_id(), cancel_response->goals_canceling[0].goal_id.uuid);
  EXPECT_EQ(goal_handle1->get_goal_id(), cancel_response->goals_canceling[1].goal_id.uuid);
  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_CANCELED, goal_handle0->get_status());
  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_CANCELED, goal_handle1->get_status());
}

TEST_F(TestClient, async_cancel_some_goals)
{
  auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);

  ActionGoal goal;
  goal.order = 6;
  auto future_goal_handle0 = action_client->async_send_goal(goal, nullptr, true);
  dual_spin_until_future_complete(future_goal_handle0);
  auto goal_handle0 = future_goal_handle0.get();

  ASSERT_EQ(RCL_RET_OK, rcl_set_ros_time_override(clock.get_clock_handle(), RCL_S_TO_NS(2)));

  goal.order = 8;
  auto future_goal_handle1 = action_client->async_send_goal(goal, nullptr, true);
  dual_spin_until_future_complete(future_goal_handle1);
  auto goal_handle1 = future_goal_handle1.get();

  ASSERT_EQ(RCL_RET_OK, rcl_set_ros_time_override(clock.get_clock_handle(), RCL_S_TO_NS(3)));

  auto future_cancel_some =
    action_client->async_cancel_goals_before(goal_handle1->get_goal_stamp());
  dual_spin_until_future_complete(future_cancel_some);
  auto cancel_response = future_cancel_some.get();

  ASSERT_EQ(1ul, cancel_response->goals_canceling.size());
  EXPECT_EQ(goal_handle0->get_goal_id(), cancel_response->goals_canceling[0].goal_id.uuid);
  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_CANCELED, goal_handle0->get_status());
}