import rclpy
from rclpy.action import ActionClient
from rclpy.node import Node
import time


from pubsub.pubsub_library_v4 import MinimalActionClient

from custom_interfaces.action import TestACT


class Client(MinimalActionClient):

    def goalrequest(self):
        # Create a goal request and send it
        goal_msg = TestACT.Goal()
        goal_msg.number = 7
        Tester.send_action_goal(goal_msg)

        # for only one variable:
        # goal_msg = 7
        # Tester.send_action_goal(goal_msg)
        # is also valid

        # Start a 5 second timer to initiate cancel request (demonstarate cancel)
        self._timer = self.create_timer(5.0, self.cancel_goal)


    def get_result_callback(self, future):
        # get result 
        result = future.result().result
        self.get_logger().info(f'Result: {result.success}')


    def feedback_callback(self, feedback_msg):
        # get feedback
        feedback = feedback_msg.feedback
        #print(feedback.current_number)
        self.get_logger().info(f'Received feedback: {feedback.current_number}')

    def spin_once(self):
        rclpy.spin_once(self, timeout_sec=0.01)


def main(args=None):
    rclpy.init(args=args)
    global Tester

    Tester = Client(NODE_NAME="action_client", ACT_NAME="ActionTest", ACT_TYPE=TestACT)
    Tester.goalrequest()
 

    while rclpy.ok():
        Tester.spin_once()


if __name__ == '__main__':
    main()