#!/usr/bin/env python3

# Copyright 2019 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.

import sys
import argparse

import rclpy
from rclpy.node import Node

from rmf_fleet_msgs.msg import Location
from rmf_fleet_msgs.msg import DestinationRequest


def main(argv = sys.argv):
    '''
    Example destination request:
    - fleet_name: magni
    - robot_name: magni123
    - task_id: 6tyghb4edujrefyd
    - x: 0.0
    - y: 0.0
    - yaw: 0.0
    - level_name: B1
    '''

    default_fleet_name = 'fleet_name'
    default_robot_name = 'robot_name'
    default_task_id = '6tyghb4edujrefyd'
    default_desired_x = 0.0
    default_desired_y = 0.0
    default_desired_yaw = 0.0
    default_level_name = 'B1'
    default_topic_name = 'robot_destination_requests'

    parser = argparse.ArgumentParser()
    parser.add_argument('-f', '--fleet-name', default=default_fleet_name)
    parser.add_argument('-r', '--robot-name', default=default_robot_name)
    parser.add_argument('-x', default=default_desired_x)
    parser.add_argument('-y', default=default_desired_y)
    parser.add_argument('--yaw', default=default_desired_yaw)
    parser.add_argument('-l', '--level-name', default=default_level_name)
    parser.add_argument('-i', '--task-id', default=default_task_id)
    parser.add_argument('-t', '--topic-name', default=default_topic_name)
    args = parser.parse_args(argv[1:])

    print('fleet_name: {}'.format(args.fleet_name))
    print('robot_name: {}'.format(args.robot_name))
    print('x: {}'.format(args.x))
    print('y: {}'.format(args.y))
    print('yaw: {}'.format(args.yaw))
    print('level_name: {}'.format(args.level_name))
    print('task_id: {}'.format(args.task_id))
    print('topic_name: {}'.format(args.topic_name))

    rclpy.init()
    node = rclpy.create_node('send_destination_request_node')
    pub = node.create_publisher(DestinationRequest, args.topic_name, 10)

    msg = DestinationRequest()
    msg.fleet_name = args.fleet_name
    msg.robot_name = args.robot_name
    msg.task_id = args.task_id
    # ignore time for now
    msg.destination.x = float(args.x)
    msg.destination.y = float(args.y)
    msg.destination.yaw = float(args.yaw)
    msg.destination.level_name = args.level_name

    rclpy.spin_once(node, timeout_sec=1.0)
    pub.publish(msg)
    rclpy.spin_once(node, timeout_sec=0.5)
    print('all done!')


if __name__ == '__main__':
    main(sys.argv)