use ros2_client::{ros2, ros2::policy, Context, MessageTypeName, Name, NodeName, NodeOptions};
use async_io::Timer;

fn main() {
  // Here is a fixed path, so this example must be started from
  // RustDDS main directory
  log4rs::init_file("examples/async_talker/log4rs.yaml", Default::default()).unwrap();

  let context = Context::new().unwrap();
  let mut node = context
    .new_node(
      NodeName::new("/rustdds", "talker").unwrap(),
      NodeOptions::default(),
    )
    .unwrap();

  let reliable_qos = ros2::QosPolicyBuilder::new()
    .history(policy::History::KeepLast { depth: 10 })
    .reliability(policy::Reliability::Reliable {
      max_blocking_time: ros2::Duration::from_millis(100),
    })
    .durability(policy::Durability::TransientLocal)
    .build();

  let chatter_topic = node
    .create_topic(
      &Name::new("/", "topic").unwrap(),
      MessageTypeName::new("std_msgs", "String"),
      &reliable_qos,
    )
    .unwrap();

  let chatter_publisher = node
    .create_publisher::<String>(&chatter_topic, None)
    .unwrap();
  let mut count = 0;

  let filler: String =
    "All work and no play makes ROS a dull boy. All play and no work makes RTPS a mere toy. "
      .repeat(2);

  smol::block_on(async {
    loop {
      count += 1;
      let message = format!("count={} {}", count, filler);
      println!("Talking, count={} len={}", count, message.len());
      let _ = chatter_publisher.async_publish(message).await;
      Timer::after(std::time::Duration::from_secs(2)).await;
    }
  });
}