import rclpy
from rclpy import Future
from rclpy.action import ActionServer, ActionClient
from rclpy.action.client import ClientGoalHandle
from rclpy.action.server import ServerGoalHandle
import rclpy.logging
from rclpy.node import Node

from action_tutorials_interfaces.action import Fibonacci 

from rclpy.executors import ExternalShutdownException
from rclpy.executors import MultiThreadedExecutor

class FibonacciActionServer(Node):
    def __init__(self, executor):
        super().__init__("fibonacci_action_server")
        self._action_server = ActionServer(
            self, Fibonacci, "some_action", self.execute_callback
        )
        self._action_client = ActionClient(
            self, Fibonacci, "fibonacci"
        )
        self._executor = executor

    def execute_callback(self, goal_handle: ServerGoalHandle):
        self.get_logger().info("Requesting goal...")
        # self._action_client.send_goal_async()
        request_future = self._action_client.send_goal_async(Fibonacci.Goal(order=goal_handle.request.order))
        #rclpy.spin_until_future_complete(self,request_future)
        self._executor.spin_until_future_complete(request_future)
        self.get_logger().info("Recieved request result...")
        spin_handle: ClientGoalHandle = request_future.result()
        result_future: Future = spin_handle.get_result_async()
        #rclpy.spin_until_future_complete(self,result_future)
        self._executor.spin_until_future_complete(result_future)
        self.get_logger().info("Recieved final result...")
        result = Fibonacci.Result()
        if not result_future.cancelled():
            result = result_future.result().result
        goal_handle.succeed()
        return result



def main(args=None):
    try:
        with rclpy.init(args=args):
           executor = MultiThreadedExecutor(num_threads=4)
           fibonacci_action_server = FibonacciActionServer(executor)
           executor.add_node(fibonacci_action_server)
           executor.spin()
    except (KeyboardInterrupt, ExternalShutdownException):
        pass


if __name__ == '__main__':
    main()