#include <iostream>
#include <vector>
#include "village.hpp"
#include "ros/ros.h"
#include "std_srvs/Trigger.h"
#include "villages/Village.h"
#include "yaml-cpp/yaml.h"
using namespace std;
Village v;

auto get_regionCallback(villages::Village::Request &req,villages::Village::Response &res)
{
	ROS_INFO("list is following:");
	v.get_region();
	res.result = "success";
	
}

auto get_villageCallback(villages::Village::Request &req,villages::Village::Response &res)
{
	v.get_village(req.id);
	res.result = "success";
}

auto set_villageCallback(villages::Village::Request &req,villages::Village::Response &res)
{
	v.set_village(req.id,req.x,req.y);
	res.result = "success";
}

auto add_villageCallback(villages::Village::Request &req,villages::Village::Response &res)
{
	v.add_village(req.id,req.x,req.y);
	res.result = "success";
}

auto del_villageCallback(villages::Village::Request &req,villages::Village::Response &res)
{
	v.del_village(req.id);
	res.result = "success";
}

int main(int argc, char **argv)
{
	ros::init(argc,argv,"village_init");
	ros::NodeHandle n;
	YAML::Node config = YAML::LoadFile("/home/xx/catkin_ws/src/villages/data/villages.yaml");
	

	for(YAML::const_iterator it = config["villages"].begin(); it!=config["villages"].end();++it)
	{
		v.villages.push_back(it->second.as<int>());
	}

	ros::ServiceServer get_region = n.advertiseService("get_region",get_regionCallback);
	ros::ServiceServer get_village = n.advertiseService("get_village",get_villageCallback);
	ros::ServiceServer set_village = n.advertiseService("set_village",set_villageCallback);
	ros::ServiceServer add_village = n.advertiseService("add_village",add_villageCallback);
	ros::ServiceServer del_village = n.advertiseService("del_village",del_villageCallback);
	
	ros::spin();
	
	return 0;
}