#include "sophiar_manager.h"
#include "core/sophiar_obj.hpp"
#include "core/tristate_obj.h"
#include "utility/debug_utility.hpp"
#include "utility/named_vector.hpp"

#include <boost/asio/awaitable.hpp>
#include <boost/asio/co_spawn.hpp>
#include <boost/asio/detached.hpp>
#include <boost/iterator/counting_iterator.hpp>

#include <fmt/format.h>
#include <spdlog/spdlog.h>

#include <algorithm>
#include <coroutine>
#include <iterator>
#include <list>
#include <stack>
#include <unordered_map>
#include <unordered_set>
#include <vector>

namespace sophiar {

    using boost::asio::awaitable;
    using boost::asio::co_spawn;
    using boost::asio::detached;

    struct sophiar_manager::impl {

        enum class manager_states {
            INITIAL,
            NORMAL,
            SWITCHING_MODE,
        };

        manager_states current_states = manager_states::INITIAL;

        using config_index_type = uint16_t;
        config_index_type next_config_index = 0;

        struct config_info {
            nlohmann::json config;
            int16_t ref_count = 0;
        };

        using config_pool_type = std::unordered_map<config_index_type, config_info>;
        config_pool_type config_pool;

        using mode_index_type = uint8_t;
        using mode_config_pool_type = std::unordered_map<mode_index_type, config_index_type>;

        using obj_type_index_type = uint8_t;
        using obj_factory_func_pool_type = named_vector<obj_type_index_type, obj_factory_func_type>;

        struct obj_info {
            sophiar_obj *ptr;
            config_index_type last_init_config_index;
            config_index_type last_start_config_index;
            mode_config_pool_type init_config_pool;
            mode_config_pool_type start_config_pool;
        };

        using obj_index_type = uint16_t;
        using obj_pool_type = named_vector<obj_index_type, obj_info>;
        using obj_set_type = std::unordered_set<obj_index_type>;
        using obj_ptr_index_map_type = std::unordered_map<sophiar_obj *, obj_index_type>;

        using slot_list_type = std::list<tiny_slot_base *>;
        using slot_iter_type = slot_list_type::iterator;

        struct slot_info {
            slot_demuxer_base *demuxer = nullptr;
            tiny_slot_base *direct_slot = nullptr; // 真正的 slot
            std::stack<tiny_slot_base *> free_slot_pool; // 从 demuxer 创建的，未使用的 slot
            slot_list_type used_slot_pool; // 从 demuxer 创建的，正在使用的 slot
        };

        using signal_index_type = uint16_t;
        using slot_index_type = uint16_t;
        using signal_pool_type = named_vector<signal_index_type, tiny_signal_base *>;
        using slot_pool_type = named_vector<slot_index_type, slot_info>;

        struct connection_info {
            bool is_connected = false;
            bool is_direct_connected = false; // if false, slot_iter is valid
            signal_index_type signal_index;
            slot_index_type slot_index;
            slot_iter_type slot_iter;
        };

        using connection_index_type = uint32_t;
        using connection_pool_type = named_vector<connection_index_type, connection_info>;
        using connection_set_type = std::unordered_set<connection_index_type>;

        struct global_obj_info {
            void *placeholder;
            coro_signal2 *update_signal;
            timestamp_type last_update_ts;
            std::type_index obj_type = typeid(void);
        };

        using global_obj_pool_type = named_vector<global_obj_index_type, global_obj_info>;

        struct mode_info {
            obj_set_type obj_set; // 需要运行的对象
            connection_set_type connection_set; // 需要建立的连接
            std::vector<mode_index_type> degrade_list; // 降级尝试列表
        };

        using mode_pool_type = named_vector<mode_index_type, mode_info>;

        sophiar_manager *q_this = nullptr;

        obj_factory_func_pool_type obj_factory_func_pool;
        obj_pool_type obj_pool;
        obj_ptr_index_map_type obj_ptr_index_map;

        signal_pool_type signal_pool;
        slot_pool_type slot_pool;

        connection_pool_type connection_pool;

        global_obj_pool_type global_obj_pool;

        mode_index_type current_mode = 0; // all_down
        mode_pool_type mode_pool;

        impl() {
            config_pool[next_config_index++] =
                    config_info{.config={}, .ref_count=1}; // default empty config
        }

        std::string get_obj_name_by_ptr(sophiar_obj *obj) const {
            assert(obj_ptr_index_map.contains(obj));
            auto obj_index = obj_ptr_index_map.at(obj);
            return obj_pool.to_name_by_index(obj_index);
        }

        auto get_tristate_ptr(obj_index_type obj_index) {
            return dynamic_cast<tristate_obj *>(obj_pool[obj_index].ptr);
        }

        static auto get_signal_uri(const std::string &signal_obj_name,
                                   const std::string &signal_name) {
            return fmt::format("signal://{}/{}", signal_obj_name, signal_name);
        }

        static auto get_slot_uri(const std::string &slot_obj_name,
                                 const std::string &slot_name) {
            return fmt::format("slot://{}/{}", slot_obj_name, slot_name);
        }

        static auto get_connection_uri(const signal_index_type signal_index,
                                       const slot_index_type slot_index) {
            return fmt::format("connection://{}/{}", signal_index, slot_index);
        }

        void acquire_config(config_index_type config_index) {
            assert(config_pool.contains(config_index));
            ++config_pool.at(config_index).ref_count;
        }

        void release_config(config_index_type config_index) {
            assert(config_pool.contains(config_index));
            auto ref_count_after = --config_pool.at(config_index).ref_count;
            assert(ref_count_after >= 0);
            if (ref_count_after == 0) { // delete config
                config_pool.erase(config_index);
                assert(!config_pool.contains(config_index));
            }
        }

        void enable_connection(connection_index_type conn_index) {
            auto &conn_info = connection_pool[conn_index];
            assert(!conn_info.is_connected);
            auto signal = signal_pool[conn_info.signal_index];
            auto &slot_info = slot_pool[conn_info.slot_index];
            if (!slot_info.direct_slot->is_linked()) { // 直接连接
                signal->add_slot_base(slot_info.direct_slot);
                conn_info.is_direct_connected = true;
            } else { // 从 muxer 创建的 slot 连接
                if (slot_info.free_slot_pool.empty()) { // 获得一个新的 slot
                    auto new_slot = slot_info.demuxer->new_slot();
                    slot_info.free_slot_pool.push(new_slot);
                }
                auto target_slot = slot_info.free_slot_pool.top();
                slot_info.free_slot_pool.pop();
                signal->add_slot_base(target_slot);
                slot_info.used_slot_pool.push_front(target_slot);
                conn_info.is_direct_connected = false;
                conn_info.slot_iter = slot_info.used_slot_pool.begin();
            }
            SPDLOG_DEBUG("Connection [uri = {}] is enabled.",
                         get_connection_uri(conn_info.signal_index, conn_info.slot_index));
            conn_info.is_connected = true;
        }

        void disable_connection(connection_index_type conn_index) {
            auto &conn_info = connection_pool[conn_index];
            assert(conn_info.is_connected);
            auto &slot_info = slot_pool[conn_info.slot_index];
            if (conn_info.is_direct_connected) {
                slot_info.direct_slot->disconnect();
            } else {
                auto target_slot = *(conn_info.slot_iter);
                target_slot->disconnect();
                slot_info.used_slot_pool.erase(conn_info.slot_iter);
                slot_info.free_slot_pool.push(target_slot);
            }
            SPDLOG_DEBUG("Connection [uri = {}] is disabled.",
                         get_connection_uri(conn_info.signal_index, conn_info.slot_index));
            conn_info.is_connected = false;
        }

        awaitable<bool> try_switch_mode(mode_index_type mode_index) { // 尝试切换模式
            auto &mode_info = mode_pool[mode_index];
            using state_type = tristate_obj::state_type;

            SPDLOG_INFO("Try switch to mode {}...",
                        mode_pool.to_name_by_index(mode_index));

            // 停止不需要的对象
            for (obj_index_type obj_index = 0; obj_index < obj_pool.size(); ++obj_index) {
                auto tristate_ptr = get_tristate_ptr(obj_index);
                if (tristate_ptr != nullptr && // not tristate_obj
                    tristate_ptr->get_state() == state_type::RUNNING &&
                    !mode_info.obj_set.contains(obj_index)) {

                    co_await tristate_ptr->stop();
                    assert(tristate_ptr->get_state() != state_type::RUNNING &&
                           tristate_ptr->get_state() != state_type::STOPPING);
                }
            }

            // 禁用不需要的连接
            for (connection_index_type conn_index = 0; conn_index < connection_pool.size(); ++conn_index) {
                auto &conn_info = connection_pool[conn_index];
                if (conn_info.is_connected &&
                    !mode_info.connection_set.contains(conn_index)) {

                    disable_connection(conn_index);
                    assert(conn_info.is_connected == false);
                }
            }

            // 启用需要的连接
            for (auto conn_index: mode_info.connection_set) {
                auto &conn_info = connection_pool[conn_index];
                if (!conn_info.is_connected) {
                    enable_connection(conn_index);
                    assert(conn_info.is_connected == true);
                }
            }

            // 启动需要的对象
            for (auto obj_index: mode_info.obj_set) {
                auto &obj_info = obj_pool[obj_index];
                auto tristate_ptr = get_tristate_ptr(obj_index);
                if (tristate_ptr == nullptr) continue; // not tristate

                if (!tristate_ptr->is_stable()) {
                    // TODO show low, cannot switch mode because some obj is unstable.
                    co_return false;
                }

                assert(obj_info.init_config_pool.contains(mode_index));
                assert(obj_info.start_config_pool.contains(mode_index));
                auto init_config_index = obj_info.init_config_pool.at(mode_index);
                auto start_config_index = obj_info.start_config_pool.at(mode_index);

                // check if start config is updated
                if (tristate_ptr->get_state() == state_type::RUNNING) {
                    if (obj_info.last_start_config_index != start_config_index) {
                        SPDLOG_DEBUG("New start config found for object [name = {}].",
                                     obj_pool.to_name_by_index(obj_index));
                        co_await tristate_ptr->stop();
                        assert(tristate_ptr->is_stable());
                    }
                }

                // check if init config is updated
                if (tristate_ptr->get_state() != state_type::INITIAL) {
                    assert(tristate_ptr->get_state() == state_type::PENDING ||
                           tristate_ptr->get_state() == state_type::RUNNING);
                    if (obj_info.last_init_config_index != init_config_index) {
                        SPDLOG_DEBUG("New init config found for object [name = {}].",
                                     obj_pool.to_name_by_index(obj_index));
                        co_await tristate_ptr->reset();
                        assert(tristate_ptr->is_stable());
                    }
                }

                // is still running, do nothing
                if (tristate_ptr->get_state() == state_type::RUNNING) continue;

                // if not initialized, make it to be pending
                if (tristate_ptr->get_state() == state_type::INITIAL) {
                    assert(config_pool.contains(init_config_index));
                    CO_ENSURE(tristate_ptr->init(config_pool.at(init_config_index).config))
                    obj_info.last_init_config_index = init_config_index;
                }

                assert(tristate_ptr->get_state() == state_type::PENDING);
                assert(config_pool.contains(start_config_index));
                CO_ENSURE(tristate_ptr->start(config_pool.at(start_config_index).config))
                obj_info.last_start_config_index = start_config_index;
                assert(tristate_ptr->get_state() == state_type::RUNNING);
            }

            current_mode = mode_index;
            SPDLOG_INFO("Current mode switched to {}.",
                        mode_pool.to_name_by_index(mode_index));
            co_return true;
        }

        awaitable<void> try_degrade_mode(mode_index_type target_mode) {
            for (auto degrade_mode: mode_pool[target_mode].degrade_list) {
                auto ok = co_await try_switch_mode(degrade_mode);
                if (ok) co_return;
                SPDLOG_ERROR("Switch to degrade mode {} failed, degrading...",
                             mode_pool.to_name_by_index(degrade_mode));
            }
            assert(false); // all_down will always success
            co_return;
        }

        awaitable<bool> switch_mode_impl(mode_index_type target_mode) { // 尝试切换模式，如果失败就降级
            bool ok = co_await try_switch_mode(target_mode);
            if (ok) co_return true;
            SPDLOG_ERROR("Switch to target mode {} failed, degrading...",
                         mode_pool.to_name_by_index(target_mode));
            co_await try_degrade_mode(target_mode);
            co_return false;
        }

        awaitable<bool> switch_mode(mode_index_type target_mode) {
            if (current_states != manager_states::NORMAL) co_return false;
            current_states = manager_states::SWITCHING_MODE;
            auto ret = co_await switch_mode_impl(target_mode);
            current_states = manager_states::NORMAL;
            co_return ret;
        }

        void on_object_stopped(sophiar_obj *obj_ptr) {
            if (current_states != manager_states::NORMAL) return; // maybe triggered by mode switching
            assert(obj_ptr_index_map.contains(obj_ptr));
            auto obj_index = obj_ptr_index_map.at(obj_ptr);
            auto &mode_info = mode_pool[current_mode];
            assert(mode_info.obj_set.contains(obj_index));
            SPDLOG_ERROR("Abnormal object stop detected, degrading...");
            co_spawn(global_context, [=]() -> awaitable<void> {
                if (current_states != manager_states::NORMAL) co_return;
                current_states = manager_states::SWITCHING_MODE;
                co_await try_degrade_mode(current_mode);
                current_states = manager_states::NORMAL;
                co_return;
            }, detached);
        }

        obj_index_type create_object(const std::string &type_name,
                                     const std::string &obj_name) {

            auto type_index = obj_factory_func_pool.to_index_by_name(type_name);
            auto factory_func = obj_factory_func_pool[type_index];
            auto obj_ptr = factory_func();

            auto obj_index = obj_pool.new_elem(obj_name);
            auto &obj_info = obj_pool[obj_index];
            obj_info.ptr = obj_ptr;

            assert(!obj_ptr_index_map.contains(obj_ptr));
            obj_ptr_index_map[obj_ptr] = obj_index;
            return obj_index;
        }

        void register_signal(sophiar_obj *obj,
                             const std::string &signal_name,
                             tiny_signal_base *signal_base) {
            auto obj_name = get_obj_name_by_ptr(obj);
            auto signal_uri = get_signal_uri(obj_name, signal_name);
            auto signal_index = signal_pool.new_elem(signal_uri);
            signal_pool[signal_index] = signal_base;
        }

        void register_slot(sophiar_obj *obj,
                           const std::string &slot_name,
                           tiny_slot_base *slot_base,
                           slot_demuxer_base *demuxer_base) {
            auto obj_name = get_obj_name_by_ptr(obj);
            auto slot_uri = get_slot_uri(obj_name, slot_name);
            auto slot_index = slot_pool.new_elem(slot_uri);
            auto &slot_info = slot_pool[slot_index];
            slot_info.demuxer = demuxer_base;
            slot_info.direct_slot = slot_base;
        }

        std::vector<mode_index_type> get_valid_modes(const nlohmann::json &config) const {
            if (config.is_string()) {
                assert(config.get<std::string>() == "all");
                return {boost::make_counting_iterator(static_cast<mode_index_type>(1)), // 0 is reserved for all_down
                        boost::make_counting_iterator(mode_pool.size())};
            }
            std::vector<mode_index_type> ret;
            assert(config.is_array());
            for (auto &mode_json: config) {
                assert(mode_json.is_string());
                auto mode_name = mode_json.get<std::string>();
                ret.push_back(mode_pool.to_index_by_name(mode_name));
            }
            return ret;
        }

        std::vector<mode_index_type> get_valid_modes_for_obj(const nlohmann::json &config,
                                                             obj_index_type obj_index) const {
            auto candidate = get_valid_modes(config);
            std::vector<mode_index_type> ret;
            std::copy_if(candidate.begin(), candidate.end(),
                         std::back_inserter(ret),
                         [=](mode_index_type mode_index) {
                             return mode_pool[mode_index].obj_set.contains(obj_index);
                         });
            return ret;
        }

        void build_mode(const nlohmann::json &config) {
            assert(config.contains("name"));
            assert(config["name"].is_string());
            auto mode_name = config["name"].get<std::string>();
            auto mode_index = mode_pool.new_elem(mode_name);
            auto &mode_info = mode_pool[mode_index];
            if (config.contains("degrade_list")) {
                assert(config["degrade_list"].is_array());
                for (auto &degrade_mode_json: config["degrade_list"]) {
                    assert(degrade_mode_json.is_string());
                    auto degrade_mode_name = degrade_mode_json.get<std::string>();
                    auto degrade_mode_index = mode_pool.to_index_by_name(degrade_mode_name);
                    mode_info.degrade_list.push_back(degrade_mode_index);
                }
            }
            mode_info.degrade_list.push_back(0); // all_down
        }

        void build_object(const nlohmann::json &config) {
            assert(config.contains("type"));
            assert(config.contains("name"));
            assert(config["type"].is_string());
            assert(config["name"].is_string());
            auto type_name = config["type"].get<std::string>();
            auto obj_name = config["name"].get<std::string>();
            auto obj_index = create_object(type_name, obj_name);
            auto &obj_info = obj_pool[obj_index];
            auto obj_ptr = obj_info.ptr;

            assert(config.contains("enabled_modes"));
            auto enabled_modes = get_valid_modes(config["enabled_modes"]);
            for (auto mode_index: enabled_modes) {
                mode_pool[mode_index].obj_set.insert(obj_index);
            }

            assert(config.contains("construct_config"));
            obj_ptr->load_construct_config(config["construct_config"]);

            auto tristate_ptr = dynamic_cast<tristate_obj *>(obj_ptr);
            if (tristate_ptr == nullptr) return; // not tristate obj

            assert(config.contains("init_configs"));
            assert(config["init_configs"].is_array());
            for (auto &config_json: config["init_configs"]) {
                assert(config_json.contains("modes"));
                auto mode_list = get_valid_modes_for_obj(config_json["modes"], obj_index);
                if (mode_list.empty()) {
                    // TODO show log, invalid mode
                    continue;
                }
                assert(config_json.contains("config"));
                auto &init_config = config_json["config"];
                auto cur_config_index = next_config_index++;
                auto &config_info = config_pool[cur_config_index];
                config_info.config = init_config;
                for (auto mode_index: mode_list) {
                    obj_info.init_config_pool[mode_index] = cur_config_index;
                    acquire_config(cur_config_index);
                }
            }

            assert(config.contains("start_configs"));
            assert(config["start_configs"].is_array());
            for (auto &config_json: config["start_configs"]) {
                assert(config_json.contains("modes"));
                auto mode_list = get_valid_modes_for_obj(config_json["modes"], obj_index);
                if (mode_list.empty()) {
                    // TODO show log, invalid mode config
                    continue;
                }
                assert(config_json.contains("config"));
                auto &start_config = config_json["config"];
                auto cur_config_index = next_config_index++;
                auto &config_info = config_pool[cur_config_index];
                config_info.config = start_config;
                for (auto mode_index: mode_list) {
                    obj_info.start_config_pool[mode_index] = cur_config_index;
                    acquire_config(cur_config_index);
                }
            }

            // fill default configs
            for (auto mode_index: enabled_modes) {
                if (!obj_info.init_config_pool.contains(mode_index)) {
                    // TODO show log
                    obj_info.init_config_pool[mode_index] = 0; // empty config
                    acquire_config(0);
                }
                if (!obj_info.start_config_pool.contains(mode_index)) {
                    // TODO show log
                    obj_info.start_config_pool[mode_index] = 0; // empty config
                    acquire_config(0);
                }
            }
        }

        void build_graph(const nlohmann::json &config) {
            mode_pool.new_elem("all_down");
            assert(mode_pool.to_index_by_name("all_down") == 0);

            assert(config.contains("mode_list"));
            assert(config["mode_list"].is_array());
            for (auto &mode_json: config["mode_list"]) {
                build_mode(mode_json);
            }

            assert(config.contains("object_list"));
            assert(config["object_list"].is_array());
            for (auto &obj_json: config["object_list"]) {
                build_object(obj_json);
            }

            assert(config.contains("connection_list"));
            assert(config["connection_list"].is_array());
            for (auto &part_json: config["connection_list"]) {
                assert(part_json.contains("modes"));
                auto mode_list = get_valid_modes(part_json["modes"]);
                assert(part_json.contains("connections"));
                assert(part_json["connections"].is_array());
                for (auto &conn_json: part_json["connections"]) {
                    assert(conn_json.contains("signal_object"));
                    assert(conn_json.contains("signal_name"));
                    assert(conn_json.contains("slot_object"));
                    assert(conn_json.contains("slot_name"));
                    assert(conn_json["signal_object"].is_string());
                    assert(conn_json["signal_name"].is_string());
                    assert(conn_json["slot_object"].is_string());
                    assert(conn_json["slot_name"].is_string());
                    auto signal_obj_name = conn_json["signal_object"].get<std::string>();
                    auto signal_name = conn_json["signal_name"].get<std::string>();
                    auto slot_obj_name = conn_json["slot_object"].get<std::string>();
                    auto slot_name = conn_json["slot_name"].get<std::string>();
                    auto signal_uri = get_signal_uri(signal_obj_name, signal_name);
                    auto slot_uri = get_slot_uri(slot_obj_name, slot_name);
                    auto signal_index = signal_pool.to_index_by_name(signal_uri);
                    auto slot_index = slot_pool.to_index_by_name(slot_uri);
                    auto conn_uri = get_connection_uri(signal_index, slot_index);
                    auto conn_index = connection_pool.contains(conn_uri) ?
                                      connection_pool.to_index_by_name(conn_uri) :
                                      connection_pool.new_elem(conn_uri);
                    auto &conn_info = connection_pool[conn_index];
                    conn_info.signal_index = signal_index;
                    conn_info.slot_index = slot_index;
                    for (auto mode_index: mode_list) {
                        mode_pool[mode_index].connection_set.insert(conn_index);
                    }
                }
            }
        }

    };

    sophiar_manager::sophiar_manager()
            : pimpl(std::make_unique<impl>()) {
        pimpl->q_this = this;
    }

    void sophiar_manager::register_object_type_impl(const std::string &type_name,
                                                    obj_factory_func_type func) {
        auto index = pimpl->obj_factory_func_pool.new_elem(type_name);
        pimpl->obj_factory_func_pool[index] = func;
    }

    void sophiar_manager::register_signal_impl(sophiar_obj *obj,
                                               const std::string &signal_name,
                                               tiny_signal_base *signal_base) {
        pimpl->register_signal(obj, signal_name, signal_base);
    }

    void sophiar_manager::register_slot_impl(sophiar_obj *obj,
                                             const std::string &slot_name,
                                             tiny_slot_base *slot_base,
                                             slot_demuxer_base *demuxer_base) {
        pimpl->register_slot(obj, slot_name, slot_base, demuxer_base);
    }

    void sophiar_manager::build_from_config(const nlohmann::json &config) {
        assert(pimpl->current_states == impl::manager_states::INITIAL);
        pimpl->build_graph(config);
        pimpl->current_states = impl::manager_states::NORMAL;
    }

    boost::asio::awaitable<bool> sophiar_manager::switch_mode(const std::string &mode_name) {
        auto mode_index = pimpl->mode_pool.to_index_by_name(mode_name);
        co_return co_await pimpl->switch_mode(mode_index);
    }

    std::string sophiar_manager::get_object_name(sophiar_obj *obj) const {
#ifdef SOPHIAR_TEST // make test without manager happy
        if (!pimpl->obj_ptr_index_map.contains(obj)) {
            return "unknown";
        }
#endif
        assert(pimpl->obj_ptr_index_map.contains(obj));
        auto obj_index = pimpl->obj_ptr_index_map.at(obj);
        return pimpl->obj_pool.to_name_by_index(obj_index);
    }

    void sophiar_manager::notify_object_stop(sophiar_obj *obj) {
        pimpl->on_object_stopped(obj);
    }

    global_obj_index_type sophiar_manager::register_global_obj_impl(const std::string &obj_name,
                                                                    std::type_index obj_type,
                                                                    void *placeholder) {
        if (placeholder == nullptr) {
            if (!pimpl->global_obj_pool.contains(obj_name))
                return ~(global_obj_index_type) 0; // indicate the caller to create a placeholder
            assert(pimpl->global_obj_pool[obj_name].obj_type == obj_type);
            return pimpl->global_obj_pool.to_index_by_name(obj_name);
        }

        // create new one
        auto obj_index = pimpl->global_obj_pool.new_elem(obj_name);
        auto &obj_info = pimpl->global_obj_pool[obj_index];
        obj_info.obj_type = obj_type;
        obj_info.placeholder = placeholder;
        obj_info.update_signal = new coro_signal2{global_context};
        return obj_index;
    }

    void *sophiar_manager::get_global_obj_placeholder(global_obj_index_type obj_index,
                                                      std::type_index obj_type) {
        auto &obj_info = pimpl->global_obj_pool[obj_index];
        assert(obj_info.obj_type == obj_type);
        return obj_info.placeholder;
    }

    void sophiar_manager::update_global_obj_timestamp(global_obj_index_type obj_index,
                                                      timestamp_type ts) {
        auto &obj_info = pimpl->global_obj_pool[obj_index];
        obj_info.last_update_ts = ts;
        obj_info.update_signal->try_notify_all();
    }

    signal_watcher sophiar_manager::request_global_obj_update_watcher(global_obj_index_type obj_index) {
        return pimpl->global_obj_pool[obj_index]
                .update_signal->new_watcher(global_context);
    }

#ifdef SOPHIAR_TEST

    sophiar_obj *sophiar_manager::get_object(const std::string &obj_name) const {
        if (!pimpl->obj_pool.contains(obj_name)) return nullptr;
        return pimpl->obj_pool[obj_name].ptr;
    }

    tiny_slot_base *sophiar_manager::get_slot_impl(const std::string &obj_name,
                                                   const std::string &slot_name) {
        auto slot_uri = pimpl->get_slot_uri(obj_name, slot_name);
        assert(pimpl->slot_pool.contains(slot_uri));
        return pimpl->slot_pool[slot_uri].direct_slot;
    }

#endif // SOPHIAR_TEST

    sophiar_manager::~sophiar_manager() = default;

}