import rclpy
from rclpy.node import Node

# Service Type Files
from custom_interfaces.srv import CustomSrv1

# Service Minimal Host and Client
from  pubsub.pubsub_library_v4 import MinimalServiceClientAsync


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

    # Create Service Client
    #minimal_client = lib.MinimalServiceClientAsync(NODE_NAME="srv_client_node", SRV_NAME="test_srv", SRV_TYPE=CustomSrv1)
    minimal_client = MinimalServiceClientAsync(NODE_NAME="srv_client_node", SRV_NAME="test_srv", SRV_TYPE=CustomSrv1)    
    
    # Create Service Request
    srv_request = CustomSrv1.Request()
    srv_request.command = "Hallo"

    # Send Service Request to host
    print("Service requested...")
    minimal_client.done_was_true = False # set service as not done
    minimal_client.send_request(srv_request)

    while rclpy.ok():
        try:
            # Loop checks if service is complete
            rclpy.spin_once(minimal_client, timeout_sec=0.1)

            # check if service was already done before this loop
            if not minimal_client.done_was_true:
                done, response = minimal_client.check_if_service_complete() # returns tuple
                if done:
                    print("Service done !")
                    print("Service Response:\t%s"%(response.success))
                    minimal_client.done_was_true = True # set service as done
                else:
                    print("Service not complete")

        except (KeyboardInterrupt, SystemExit):
            print("\n\nShutting down...")
            minimal_client.destroy_node()
            rclpy.shutdown()


if __name__ == '__main__':
    main()