#include <boost/dll/import.hpp>
#include <iostream>
#include <costmap_2d/costmap_layer.h>
#include <costmap_2d/layered_costmap.h>
#include <tf2/buffer_core.h>
#include <tf2/time.h>
#include "nav_msgs/OccupancyGrid.h"
#include <map_msgs/OccupancyGridUpdate.h>
using namespace costmap_2d;

int main(int argc, char* argv[]) {

    auto creator = boost::dll::import_alias<costmap_2d::PluginCostmapLayerPtr()>(
        "./costmap_2d/liblayers.so", "create_plugin", boost::dll::load_mode::append_decorations
    );

    costmap_2d::PluginCostmapLayerPtr plugin = creator();
    std::cout << "Plugin created successfully" << std::endl;
    
    std::string global_frame = "map";
    bool rolling_window = true;
    bool track_unknown = true;
    LayeredCostmap layered_costmap(global_frame, rolling_window, track_unknown);
    
    tf2::BufferCore tf_buffer;
    // tf2::Duration cache_time(10.0);
    // tf2::BufferCore tf_buffer(cache_time);
    
    plugin->initialize(&layered_costmap, "static_layer", &tf_buffer);
    
    std::cout << "Plugin initialized" << std::endl;
    
    // plugin->activate();
    nav_msgs::OccupancyGrid grid;

    grid.info.resolution = 0.05f;
    grid.info.width = 2;
    grid.info.height = 2;

    grid.data.resize(grid.info.width * grid.info.height, -1);
    grid.data[0] = 0; 
    grid.data[1] = 100;
    grid.data[2] = 10;
    grid.data[3] = 0;
    plugin->dataCallBack(grid);

    map_msgs::OccupancyGridUpdate update;

    update.x = 1;
    update.y = 1;
    update.width = 2;
    update.height = 2;

    update.data.resize(update.width * update.height, -1);
    update.data[0] = 0; 
    update.data[1] = 100;
    update.data[2] = 10;
    update.data[3] = 0;
    plugin->dataCallBack(update);



    
    std::cout << "Plugin activated successfully" << std::endl;
}