// Copyright 2021 RobosoftAI 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.

/*****************************************************************************************************************
 *
 * 	 Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/

#include <cl_nav2z/client_behaviors/cb_load_waypoints_file.hpp>
#include <cl_nav2z/components/waypoints_navigator/cp_waypoints_navigator_base.hpp>
#include <smacc2/smacc_client_behavior.hpp>

namespace cl_nav2z
{

CbLoadWaypointsFile::CbLoadWaypointsFile(std::string filepath) : filepath_(filepath) {}

CbLoadWaypointsFile::CbLoadWaypointsFile(std::string parameter_name, std::string packagenamespace)
: parameterName_(parameter_name), packageNamespace_(packagenamespace)
{
}

void CbLoadWaypointsFile::onEntry()
{
  requiresComponent(waypointsNavigator_);  // this is a component from the
                                           // nav2z_client library

  if (filepath_)
  {
    this->waypointsNavigator_->loadWayPointsFromFile(filepath_.value());
  }
  else
  {
    RCLCPP_INFO(getLogger(), "Loading waypoints from parameter %s", parameterName_.value().c_str());
    this->waypointsNavigator_->loadWaypointsFromYamlParameter(
      parameterName_.value(), packageNamespace_.value());
  }

  // change this to skip some points of the yaml file, default = 0
  waypointsNavigator_->currentWaypoint_ = 0;
  this->postSuccessEvent();
}

void CbLoadWaypointsFile::onExit() {}
}  // namespace cl_nav2z
