#ifdef __cplusplus
extern "C"
{
#endif
#include <erl_nif.h>
#include "total_nif.h"
#include "node_nif.h"

#include <limits.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>

#include "rcl/rcl.h"



ERL_NIF_TERM nif_rcl_get_zero_initialized_node(ErlNifEnv* env,int argc,const ERL_NIF_TERM argv[]){
    rcl_node_t* res;
    ERL_NIF_TERM ret;
    
    if(argc != 0){
        return enif_make_badarg(env);
    }
    res = enif_alloc_resource(rt_node,sizeof(rcl_node_t));
    if(res == NULL) return enif_make_badarg(env);

    ret = enif_make_resource(env,res);
    enif_release_resource(res);
    
    *res = rcl_get_zero_initialized_node();

    return ret;
}
/*
    rcl_ret_t
    rcl_node_init(
  rcl_node_t * node,
  const char * name,
  const char * namespace_,
  rcl_context_t * context,
  const rcl_node_options_t * options);
*/
ERL_NIF_TERM nif_rcl_node_init(ErlNifEnv* env, int argc, const ERL_NIF_TERM argv[]){
    if(argc != 5){
        return enif_make_badarg(env);
    }
    
    int res = 0;
    ERL_NIF_TERM ret;

    rcl_node_t* res_arg_node;
    rcl_context_t* res_arg_context;
    const rcl_node_options_t* res_arg_options;

    char name_buf[128];
    char namespace_buf[128];    
    (void)memset(&name_buf,'\0',sizeof(name_buf));
    (void)memset(&namespace_buf,'\0',sizeof(namespace_buf));
   
    if(!enif_get_resource(env, argv[0], rt_node, (void**) &res_arg_node)){
        return enif_make_badarg(env);
    }
   
    if(!enif_get_string(env,argv[1],name_buf,sizeof(name_buf),ERL_NIF_LATIN1)){
        return enif_make_badarg(env);
    }
    
    if(!enif_get_string(env,argv[2],namespace_buf,sizeof(namespace_buf),ERL_NIF_LATIN1)){
        return enif_make_badarg(env);
    }
   
    if(!enif_get_resource(env, argv[3], rt_context, (void**) &res_arg_context)){
        return enif_make_badarg(env);
    }
   
    if(!enif_get_resource(env, argv[4], rt_node_options, (void**) &res_arg_options)){
        return enif_make_badarg(env);
    }
   
   
    res = rcl_node_init(res_arg_node,name_buf,namespace_buf,res_arg_context,res_arg_options);
    ret = enif_make_resource(env,res_arg_node);
   
    return ret;
}

ERL_NIF_TERM nif_rcl_node_init_without_namespace(ErlNifEnv* env, int argc, const ERL_NIF_TERM argv[]){
    if(argc != 4){
        return enif_make_badarg(env);
    }
    
    int res = 0;
    ERL_NIF_TERM ret;

    rcl_node_t* res_arg_node;
    rcl_context_t* res_arg_context;
    const rcl_node_options_t* res_arg_options;

    char name_buf[128];
    (void)memset(&name_buf,'\0',sizeof(name_buf));
   
    if(!enif_get_resource(env, argv[0], rt_node, (void**) &res_arg_node)){
        return enif_make_badarg(env);
    }
   
    if(!enif_get_string(env,argv[1],name_buf,sizeof(name_buf),ERL_NIF_LATIN1)){
        return enif_make_badarg(env);
    }
   
    if(!enif_get_resource(env, argv[2], rt_context, (void**) &res_arg_context)){
        return enif_make_badarg(env);
    }
   
    if(!enif_get_resource(env, argv[3], rt_node_options, (void**) &res_arg_options)){
        return enif_make_badarg(env);
    }
   
    res = rcl_node_init(res_arg_node,name_buf,"",res_arg_context,res_arg_options);
    ret = enif_make_resource(env,res_arg_node);
   
    return ret;
}

ERL_NIF_TERM nif_rcl_node_fini(ErlNifEnv* env,int argc,const ERL_NIF_TERM argv[]){
    if(argc != 1){
        return enif_make_badarg(env);
    }
    rcl_ret_t* res;
    ERL_NIF_TERM ret;

    rcl_node_t* res_node;
    if(!enif_get_resource(env, argv[0], rt_node, (void**) &res_node)){
        return enif_make_badarg(env);
    }
    res = enif_alloc_resource(rt_ret,sizeof(rcl_ret_t));
    if(res == NULL) return enif_make_badarg(env);
    ret = enif_make_resource(env,res);
    enif_release_resource(res);
    *res = rcl_node_fini(res_node);
    return ret;
} 

ERL_NIF_TERM nif_rcl_node_get_default_options(ErlNifEnv* env, int argc, const ERL_NIF_TERM argv[]){
    if(argc != 0){
        return enif_make_badarg(env);
    }

    rcl_node_options_t* res;
    ERL_NIF_TERM ret;

    res = enif_alloc_resource(rt_node_options,sizeof(rcl_node_options_t));
    if(res == NULL) return enif_make_badarg(env);

    ret = enif_make_resource(env,res);
    enif_release_resource(res);
    
    *res = rcl_node_get_default_options();

    return ret;
    
}

ERL_NIF_TERM nif_read_guard_condition(ErlNifEnv* env, int argc, const ERL_NIF_TERM argv[]){
    rcl_node_t* res_node;
    if(!enif_get_resource(env, argv[0], rt_node, (void**) &res_node)){
	    return enif_make_badarg(env);
    }
    return enif_make_atom(env,"ok");
}

#ifdef __cplusplus
}
#endif