// 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 <moveit2z_client/client_behaviors/cb_execute_last_trajectory.hpp>
#include <moveit2z_client/components/cp_trajectory_history.hpp>

namespace cl_moveit2z
{
CbExecuteLastTrajectory::CbExecuteLastTrajectory() {}

CbExecuteLastTrajectory::~CbExecuteLastTrajectory() {}

void CbExecuteLastTrajectory::generateTrajectory() {}

void CbExecuteLastTrajectory::onEntry()
{
  this->requiresClient(movegroupClient_);

  CpTrajectoryHistory * trajectoryHistory;
  this->requiresComponent(trajectoryHistory);

  // this->generateTrajectory();
  // endEffectorTrajectory_ =

  // if (this->endEffectorTrajectory_.size() == 0)
  // {
  //     RCLCPP_WARN_STREAM(getLogger(), "[" << smacc2::demangleSymbol(typeid(*this).name()) << "] No points in the trajectory. Skipping behavior.");
  //     return;
  // }

  //this->createMarkers();
  //markersInitialized_ = true;

  moveit_msgs::msg::RobotTrajectory trajectory;

  if (trajectoryHistory->getLastTrajectory(trajectory))
  {
    this->executeJointSpaceTrajectory(trajectory);
  }
}

}  // namespace cl_moveit2z
