#!/usr/bin/env python
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# Author: Alexander Sorokin.
# Based on code from ref_server.cpp by Vijay Pradeep
PKG = 'actionlib'
import rospy

from actionlib.action_server import ActionServer
from actionlib.msg import TestAction, TestFeedback, TestResult


class RefServer (ActionServer):

    def __init__(self, name):
        action_spec = TestAction
        ActionServer.__init__(
            self, name, action_spec, self.goalCallback, self.cancelCallback, False)
        self.start()
        rospy.loginfo("Creating ActionServer [%s]\n", name)

        self.saved_goals = []

    def goalCallback(self, gh):
        goal = gh.get_goal()

        rospy.loginfo("Got goal %d", int(goal.goal))
        if goal.goal == 1:
            gh.set_accepted()
            gh.set_succeeded(None, "The ref server has succeeded")
        elif goal.goal == 2:
            gh.set_accepted()
            gh.set_aborted(None, "The ref server has aborted")
        elif goal.goal == 3:
            gh.set_rejected(None, "The ref server has rejected")
        elif goal.goal == 4:
            self.saved_goals.append(gh)
            gh.set_accepted()
        elif goal.goal == 5:
            gh.set_accepted()
            for g in self.saved_goals:
                g.set_succeeded()
            self.saved_goals = []
            gh.set_succeeded()
        elif goal.goal == 6:
            gh.set_accepted()
            for g in self.saved_goals:
                g.set_aborted()
            self.saved_goals = []
            gh.set_succeeded()
        elif goal.goal == 7:
            gh.set_accepted()
            n = len(self.saved_goals)
            for i, g in enumerate(self.saved_goals):
                g.publish_feedback(TestFeedback(n-i))
            gh.set_succeeded()
        elif goal.goal == 8:
            gh.set_accepted()
            n = len(self.saved_goals)
            for i, g in enumerate(self.saved_goals):
                if i % 2 == 0:
                    g.set_succeeded(TestResult(n - i), "The ref server has succeeded")
                else:
                    g.set_aborted(TestResult(n - i), "The ref server has aborted")
            self.saved_goals = []
            gh.set_succeeded()
        else:
            pass

    def cancelCallback(self, gh):
        pass


if __name__ == "__main__":
    rospy.init_node("ref_server")
    ref_server = RefServer("reference_action")

    rospy.spin()