/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

//! \author Vijay Pradeep

#include <actionlib/server/simple_action_server.h>
#include <actionlib/TestAction.h>
#include <ros/ros.h>

namespace actionlib
{

class SimpleExecuteRefServer
{
public:
  typedef ServerGoalHandle<TestAction> GoalHandle;

  SimpleExecuteRefServer();

private:
  ros::NodeHandle nh_;
  SimpleActionServer<TestAction> as_;

  void executeCallback(const TestGoalConstPtr& goal);
};

}

using namespace actionlib;

SimpleExecuteRefServer::SimpleExecuteRefServer() : as_(nh_, "reference_action", boost::bind(&SimpleExecuteRefServer::executeCallback, this, _1), false)
{
  as_.start();
}

void SimpleExecuteRefServer::executeCallback(const TestGoalConstPtr& goal)
{
  ROS_DEBUG("Got a goal of type [%u]", goal->goal);
  switch (goal->goal)
  {
    case 1:
      ROS_DEBUG("Got goal #1");
      as_.setSucceeded(TestResult(), "The ref server has succeeded");
      break;
    case 2:
      ROS_DEBUG("Got goal #2");
      as_.setAborted(TestResult(), "The ref server has aborted");
      break;
    case 4:
    {
      ROS_DEBUG("Got goal #4");
      ros::Duration sleep_dur(.1);
      for (unsigned int i=0; i<100; i++)
      {
        sleep_dur.sleep();
        if (as_.isPreemptRequested())
        {
          as_.setPreempted();
          return;
        }
      }
      as_.setAborted();
      break;
    }
    default:
      break;
  }
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "ref_server");

  SimpleExecuteRefServer server;

  ros::spin();

  return 0;
}


