#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib_tutorials/FibonacciAction.h>

using namespace actionlib_tutorials;
typedef actionlib::SimpleActionClient<FibonacciAction> Client;

// Called once when the goal completes
void doneCb(const actionlib::SimpleClientGoalState& state,
            const FibonacciResultConstPtr& result)
{
  ROS_INFO("Finished in state [%s]", state.toString().c_str());
  ROS_INFO("Answer: %i", result->sequence.back());
  ros::shutdown();
}

// Called once when the goal becomes active
void activeCb()
{
  ROS_INFO("Goal just went active");
}

// Called every time feedback is received for the goal
void feedbackCb(const FibonacciFeedbackConstPtr& feedback)
{
  ROS_INFO("Got Feedback of length %lu", feedback->sequence.size());
}

int main (int argc, char **argv)
{
  ros::init(argc, argv, "test_fibonacci_callback");

  // Create the action client
  Client ac("fibonacci", true);

  ROS_INFO("Waiting for action server to start.");
  ac.waitForServer();
  ROS_INFO("Action server started, sending goal.");

  // Send Goal
  FibonacciGoal goal;
  goal.order = 20;
  ac.sendGoal(goal, &doneCb, &activeCb, &feedbackCb);

  ros::spin();
  return 0;
}