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*
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* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef ACTIONLIB_SERVER_GOAL_HANDLE_H_
#define ACTIONLIB_SERVER_GOAL_HANDLE_H_

#include <actionlib_msgs/GoalID.h>
#include <actionlib_msgs/GoalStatus.h>
#include <actionlib/action_definition.h>
#include <actionlib/server/status_tracker.h>
#include <actionlib/destruction_guard.h>
#include <boost/shared_ptr.hpp>

namespace actionlib {
  //forward declaration of ActionServer
  template <class ActionSpec>
  class ActionServer;

  /**
   * @class ServerGoalHandle
   * @brief Encapsulates a state machine for a given goal that the user can
   * trigger transisions on. All ROS interfaces for the goal are managed by
   * the ActionServer to lessen the burden on the user.
   */
  template <class ActionSpec>
  class ServerGoalHandle {
    private:
      //generates typedefs that we'll use to make our lives easier
      ACTION_DEFINITION(ActionSpec);

    public:
      /**
       * @brief  Default constructor for a ServerGoalHandle
       */
      ServerGoalHandle();

      /**
       * @brief  Copy constructor for a ServerGoalHandle
       * @param gh The goal handle to copy 
       */
      ServerGoalHandle(const ServerGoalHandle& gh);

      /** @brief  Accept the goal referenced by the goal handle. This will
       * transition to the ACTIVE state or the PREEMPTING state depending
       * on whether a cancel request has been received for the goal
       * @param text Optionally, any text message about the status change being made that should be passed to the client
       */
      void setAccepted(const std::string& text = std::string(""));

      /**
       * @brief  Set the status of the goal associated with the ServerGoalHandle to RECALLED or PREEMPTED
       * depending on what the current status of the goal is
       * @param  result Optionally, the user can pass in a result to be sent to any clients of the goal
       * @param text Optionally, any text message about the status change being made that should be passed to the client
       */
      void setCanceled(const Result& result = Result(), const std::string& text = std::string(""));

      /**
       * @brief  Set the status of the goal associated with the ServerGoalHandle to rejected
       * @param  result Optionally, the user can pass in a result to be sent to any clients of the goal
       * @param text Optionally, any text message about the status change being made that should be passed to the client
       */
      void setRejected(const Result& result = Result(), const std::string& text = std::string(""));

      /**
       * @brief  Set the status of the goal associated with the ServerGoalHandle to aborted
       * @param  result Optionally, the user can pass in a result to be sent to any clients of the goal
       * @param text Optionally, any text message about the status change being made that should be passed to the client
       */
      void setAborted(const Result& result = Result(), const std::string& text = std::string(""));

      /**
       * @brief  Set the status of the goal associated with the ServerGoalHandle to succeeded
       * @param  result Optionally, the user can pass in a result to be sent to any clients of the goal
       * @param text Optionally, any text message about the status change being made that should be passed to the client
       */
      void setSucceeded(const Result& result = Result(), const std::string& text = std::string(""));

      /**
       * @brief  Send feedback to any clients of the goal associated with this ServerGoalHandle
       * @param feedback The feedback to send to the client
       */
      void publishFeedback(const Feedback& feedback);

      /**
       * @brief  Accessor for the goal associated with the ServerGoalHandle
       * @return A shared_ptr to the goal object
       */
      boost::shared_ptr<const Goal> getGoal() const;

      /**
       * @brief  Accessor for the goal id associated with the ServerGoalHandle
       * @return The goal id
       */
      actionlib_msgs::GoalID getGoalID() const;

      /**
       * @brief  Accessor for the status associated with the ServerGoalHandle
       * @return The goal status
       */
      actionlib_msgs::GoalStatus getGoalStatus() const;

      /**
       * @brief  Equals operator for a ServerGoalHandle
       * @param gh The goal handle to copy 
       */
      ServerGoalHandle& operator=(const ServerGoalHandle& gh);

      /**
       * @brief  Equals operator for ServerGoalHandles
       * @param other The ServerGoalHandle to compare to
       * @return True if the ServerGoalHandles refer to the same goal, false otherwise
       */
      bool operator==(const ServerGoalHandle& other);

      /**
       * @brief  != operator for ServerGoalHandles
       * @param other The ServerGoalHandle to compare to
       * @return True if the ServerGoalHandles refer to different goals, false otherwise
       */
      bool operator!=(const ServerGoalHandle& other);

    private:
      /**
       * @brief  A private constructor used by the ActionServer to initialize a ServerGoalHandle
       */
      ServerGoalHandle(typename std::list<StatusTracker<ActionSpec> >::iterator status_it,
          ActionServer<ActionSpec>* as, boost::shared_ptr<void> handle_tracker, boost::shared_ptr<DestructionGuard> guard);

      /**
       * @brief  A private method to set status to PENDING or RECALLING
       * @return True if the cancel request should be passed on to the user, false otherwise
       */
      bool setCancelRequested();

      typename std::list<StatusTracker<ActionSpec> >::iterator status_it_;
      boost::shared_ptr<const ActionGoal> goal_;
      ActionServer<ActionSpec>* as_;
      boost::shared_ptr<void> handle_tracker_;
      boost::shared_ptr<DestructionGuard> guard_;
      friend class ActionServer<ActionSpec>;
  };

};

//include the implementation
#include <actionlib/server/server_goal_handle_imp.h>

#endif
