use std::time::Duration;

use chrono::{DateTime, Utc};
use ros2_client::*;

pub fn main() {
  log4rs::init_file("log4rs.yaml", Default::default()).unwrap();

  let context = Context::new().unwrap();
  let mut node = context
    .new_node(
      NodeName::new("/", "time_reporter").unwrap(),
      NodeOptions::new().enable_rosout(true),
    )
    .unwrap();

  smol::spawn(node.spinner().unwrap().spin()).detach();

  node
    .set_parameter("use_sim_time", ParameterValue::Boolean(true))
    .unwrap();

  let clock_publisher = node
    .create_publisher::<builtin_interfaces::Time>(
      &node
        .create_topic(
          &Name::new("/", "clock").unwrap(),
          MessageTypeName::new("builtin_interfaces", "Time"),
          &DEFAULT_PUBLISHER_QOS,
        )
        .unwrap(),
      None,
    )
    .unwrap();

  smol::block_on(async move {
    loop {
      smol::Timer::after(Duration::from_secs(1)).await;
      clock_publisher.publish(node.time_now().into()).unwrap();
      println!("{:?}", DateTime::<Utc>::from(node.time_now()));
    }
  });
}