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use std::io;

use mio::{Evented, Poll, PollOpt, Ready, Token};
use rustdds::*;
use serde::{de::DeserializeOwned, Serialize};

/// A ROS2 Publisher
///
/// Corresponds to a simplified [`DataWriter`](rustdds::no_key::DataWriter)in
/// DDS
pub struct Publisher<M: Serialize> {
  datawriter: no_key::DataWriterCdr<M>,
}

impl<M: Serialize> Publisher<M> {
  // These must be created from Node
  pub(crate) fn new(datawriter: no_key::DataWriterCdr<M>) -> Publisher<M> {
    Publisher { datawriter }
  }

  pub fn publish(&self, message: M) -> dds::Result<()> {
    self.datawriter.write(message, None)
  }

  pub(crate) fn publish_with_options(
    &self,
    message: M,
    wo: WriteOptions,
  ) -> dds::Result<rustdds::rpc::SampleIdentity> {
    self.datawriter.write_with_options(message, wo)
  }

  pub fn assert_liveliness(&self) -> dds::Result<()> {
    self.datawriter.assert_liveliness()
  }

  pub fn guid(&self) -> rustdds::GUID {
    self.datawriter.guid()
  }
}
// ----------------------------------------------------
// ----------------------------------------------------
// ----------------------------------------------------
// ----------------------------------------------------
// ----------------------------------------------------

/// A ROS2 Subscription
///
/// Corresponds to a (simplified) [`DataReader`](rustdds::no_key::DataReader) in
/// DDS
pub struct Subscription<M: DeserializeOwned> {
  datareader: no_key::DataReaderCdr<M>,
}

impl<M: 'static + DeserializeOwned> Subscription<M> {
  // These must be created from Node
  pub(crate) fn new(datareader: no_key::DataReaderCdr<M>) -> Subscription<M> {
    Subscription { datareader }
  }

  pub fn take(&mut self) -> dds::Result<Option<(M, MessageInfo)>> {
    let ds: Option<no_key::DataSample<M>> = self.datareader.take_next_sample()?;
    Ok(ds.map(|ds| {
      let mi = MessageInfo::from(ds.sample_info());
      (ds.into_value(), mi)
    }))
  }

  pub fn guid(&self) -> rustdds::GUID {
    self.datareader.guid()
  }
}

impl<D> Evented for Subscription<D>
where
  D: DeserializeOwned,
{
  // We just delegate all the operations to datareader, since it
  // already implements Evented
  fn register(&self, poll: &Poll, token: Token, interest: Ready, opts: PollOpt) -> io::Result<()> {
    self.datareader.register(poll, token, interest, opts)
  }

  fn reregister(
    &self,
    poll: &Poll,
    token: Token,
    interest: Ready,
    opts: PollOpt,
  ) -> io::Result<()> {
    self.datareader.reregister(poll, token, interest, opts)
  }

  fn deregister(&self, poll: &Poll) -> io::Result<()> {
    self.datareader.deregister(poll)
  }
}

// This is just a thinly veiled RustDDS SampleInfo
#[derive(Debug, Clone)]
pub struct MessageInfo {
  pub(crate) sample_info: SampleInfo,
}

impl MessageInfo {
  pub fn writer_guid(&self) -> GUID {
    self.sample_info.writer_guid()
  }
}

impl From<&SampleInfo> for MessageInfo {
  fn from(sample_info: &SampleInfo) -> MessageInfo {
    MessageInfo {
      sample_info: sample_info.clone(),
    }
  }
}