#include <chrono>
#include <memory>
#include <glib.h>


#include "rclcpp/rclcpp.hpp"

using namespace std::chrono_literals;

class MinimalTimer : public rclcpp::Node
{
public:
  MinimalTimer()
  : Node("minimal_timer")
  {
    auto timer_callback = [this]() -> void {
      RCLCPP_INFO(this->get_logger(), "Timer Expired. Timer cancel");
      timer_->cancel();
    };
    timer_ = create_wall_timer(500ms, timer_callback);
  }

// for test, set public visibility
// private:
   rclcpp::TimerBase::SharedPtr timer_;
   rclcpp::TimerBase::SharedPtr timer2_;
};

GMainLoop *mainloop;
std::shared_ptr<rclcpp::executors::SingleThreadedExecutor> exec;
std::shared_ptr<MinimalTimer> node;

gboolean TimerExpired(gpointer data) {
   if (node->timer_->is_canceled()){
     RCLCPP_INFO(node->get_logger(), "Timer is cancelled and reset");
     node->timer_->reset();
   }else {
     RCLCPP_INFO(node->get_logger(), "Timer is not cancelled");
   }
   return true;
}

int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);

  exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
  node = std::make_shared<MinimalTimer>();
  exec->add_node(node);

  mainloop = g_main_loop_new(nullptr, false);

  g_timeout_add(1000, TimerExpired, nullptr);

  g_thread_new(nullptr,
        [](gpointer data) -> gpointer {
          exec->spin();
          return nullptr;
        },
        static_cast<void *>(node.get()));

  g_main_loop_run(mainloop);
  rclcpp::shutdown();
  return 0;
}