import time

from action_tutorials_interfaces.action import Fibonacci

import rclpy
from rclpy.action import ActionServer
from rclpy.node import Node
from rclpy.executors import MultiThreadedExecutor


class FibonacciActionServer(Node):

    def __init__(self):
        super().__init__('fibonacci_action_server')
        self._action_server = ActionServer(
            self,
            Fibonacci,
            'fibonacci',
            self.execute_callback)

    def execute_callback(self, goal_handle):
        self.get_logger().info('Executing goal...')

        feedback_msg = Fibonacci.Feedback()
        feedback_msg.partial_sequence = [0, 1]

        for i in range(1, goal_handle.request.order):
            feedback_msg.partial_sequence.append(
                feedback_msg.partial_sequence[i] + feedback_msg.partial_sequence[i-1])
            self.get_logger().info('Feedback: {0}'.format(feedback_msg.partial_sequence))
            goal_handle.publish_feedback(feedback_msg)
            time.sleep(1)

        time.sleep(1)
        
        result = Fibonacci.Result()
        result.sequence = feedback_msg.partial_sequence
        goal_handle.succeed(result)
        return result


def main(args=None):
    rclpy.init(args=args)
    
    executor = MultiThreadedExecutor()
    node = FibonacciActionServer()
    node.get_logger().info("FibonacciActionServer started")
    executor.add_node(node)
    executor.spin()


if __name__ == '__main__':
    main()