'use strict';

const { BaseClient, error_factory, error_pair, common_header_errors } = require('./common');
const { ResponseError, UnsetStatusError } = require('./exceptions');

const point_cloud_protos = require('../bosdyn/api/point_cloud_pb');
const point_cloud_service = require('../bosdyn/api/point_cloud_service_grpc_pb');

class PointCloudResponseError extends ResponseError {
  constructor(msg) {
    super(msg);
    this.name = 'PointCloudResponseError';
  }
}

class UnknownPointCloudSourceError extends PointCloudResponseError {
  constructor(msg) {
    super(msg);
    this.name = 'UnknownPointCloudSourceError';
  }
}

class SourceDataError extends PointCloudResponseError {
  constructor(msg) {
    super(msg);
    this.name = 'SourceDataError';
  }
}

class PointCloudDataError extends PointCloudResponseError {
  constructor(msg) {
    super(msg);
    this.name = 'PointCloudDataError';
  }
}

const _STATUS_TO_ERROR = {
  STATUS_OK: [null, null],
  STATUS_UNKNOWN_SOURCE: error_pair(UnknownPointCloudSourceError),
  STATUS_SOURCE_DATA_ERROR: error_pair(SourceDataError),
  STATUS_UNKNOWN: error_pair(UnsetStatusError),
  STATUS_POINT_CLOUD_DATA_ERROR: error_pair(PointCloudDataError),
};

function _error_from_response(response) {
  for (const point_cloud_response of response.getPointCloudResponses()) {
    const result = error_factory(
      response,
      point_cloud_response.getStatus(),
      Object.keys(point_cloud_protos.PointCloudResponse.Status),
      _STATUS_TO_ERROR,
    );
    if (result !== null) return result;
  }
  return null;
}

/**
 * Client to authenticate to the robot.
 * @class PointCloudClient
 * @extends BaseClient
 */
class PointCloudClient extends BaseClient {
  static default_service_name = 'point-cloud';
  static service_type = 'bosdyn.api.PointCloudService';

  /**
   * Create an instance of PointCloudClient's class.
   * @param {?string} name The BaseClient's name.
   */
  constructor(name = null) {
    super(point_cloud_service.PointCloudServiceClient, name);
  }

  /**
   * Obtain the list of PointCloudSources.
   * @param {Object} [args] Extra arguments for controlling RPC details.
   * @returns {Promise<Array<point_cloud_protos.PointCloudSource>>} A list of the different point cloud
   * sources as strings.
   * @throws {RpcError} Problem communicating with the robot.
   */
  list_point_cloud_sources(args) {
    const req = PointCloudClient._get_list_point_cloud_source_request();
    return this.call(
      this._stub.listPointCloudSources,
      req,
      _list_point_cloud_sources_value,
      common_header_errors,
      args,
    );
  }

  /**
   * Obtain point clouds from sources using default parameters.
   * @param {Array<string>} point_cloud_sources The source names to request point clouds from.
   * @param {Object} [args] Extra arguments for controlling RPC details.
   * @returns {Array} A list of point cloud responses for each of the requested sources.
   * @throws {RpcError} Problem communicating with the robot.
   * @throws {UnknownPointCloudSourceError} Provided point cloud source was invalid or not found.
   * @throws {point_cloud.SourceDataError} Failed to fill out PointCloudSource. All other fields are not filled.
   * @throws {UnsetStatusError} An internal PointCloudService issue has happened.
   * @throws {PointCloudDataError} Problem with the point cloud data. Only PointCloudSource is filled.
   */
  get_point_cloud_from_sources(point_cloud_sources, args) {
    return this.get_point_cloud(
      point_cloud_sources.map(src => build_pc_request(src)),
      args,
    );
  }

  /**
   * Get the most recent point cloud.
   * @param {Array<point_cloud_protos.PointCloudRequest>} point_cloud_requests A list of PointCloudRequest protobuf
   * messages which specify which point clouds to collect
   * @param {Object} [args] Extra arguments for controlling RPC details.
   * @returns {Promise<Array<point_cloud_protos.PointCloudResponse>>} A list of point cloud responses
   * for each of the requested sources.
   * @throws {RpcError} Problem communicating with the robot.
   * @throws {UnknownPointCloudSourceError} Provided point cloud source was invalid or not found.
   * @throws {point_cloud.SourceDataError} Failed to fill out PointCloudSource. All other fields are not filled.
   * @throws {UnsetStatusError} An internal PointCloudService issue has happened.
   * @throws {PointCloudDataError} Problem with the point cloud data. Only PointCloudSource is filled.
   */
  get_point_cloud(point_cloud_requests, args) {
    const req = PointCloudClient._get_point_cloud_request(point_cloud_requests);
    return this.call(this._stub.getPointCloud, req, _get_point_cloud_value, _error_from_response, args);
  }

  static _get_point_cloud_request(point_cloud_requests) {
    return new point_cloud_protos.GetPointCloudRequest().setPointCloudRequestsList(point_cloud_requests);
  }

  static _get_list_point_cloud_source_request() {
    return new point_cloud_protos.ListPointCloudSourcesRequest();
  }
}

/**
 * Helper function which builds an PointCloudRequest from an point cloud source name.
 * @param {string} point_cloud_source_name The point cloud source to query.
 * @returns {point_cloud_protos.PointCloudRequest} The PointCloudRequest protobuf message for the given parameters.
 */
function build_pc_request(point_cloud_source_name) {
  return new point_cloud_protos.PointCloudRequest().setPointCloudSourceName(point_cloud_source_name);
}

function _list_point_cloud_sources_value(response) {
  return response.getPointCloudSourcesList();
}

function _get_point_cloud_value(response) {
  return response.getPointCloudResponsesList();
}

module.exports = {
  PointCloudClient,
  build_pc_request,
  PointCloudResponseError,
  UnknownPointCloudSourceError,
  SourceDataError,
  PointCloudDataError,
};