/*********************************************************************
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2008, 2013, Willow Garage, Inc.
 *  Copyright (c) 2015, Fetch Robotics, Inc.
 *  All rights reserved.
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 *     from this software without specific prior written permission.
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 * Author: Eitan Marder-Eppstein
 *         David V. Lu!!
 *********************************************************************/
#include <robot_costmap_2d/static_layer.h>
#include <robot_costmap_2d/costmap_math.h>

#include <tf3/convert.h>
#include <robot_tf3_geometry_msgs/tf3_geometry_msgs.h>

#include <boost/dll/alias.hpp>
#include <fstream>


using robot_costmap_2d::NO_INFORMATION;
using robot_costmap_2d::LETHAL_OBSTACLE;
using robot_costmap_2d::FREE_SPACE;

namespace robot_costmap_2d
{

StaticLayer::StaticLayer()
{
  threshold_ = &lethal_threshold_;
}

StaticLayer::~StaticLayer()
{}

void StaticLayer::onInitialize()
{
  robot::NodeHandle nh("~");
  robot::NodeHandle priv_nh(nh, name_);

  current_ = true;

  global_frame_ = layered_costmap_->getGlobalFrameID();
  std::string config_file_name = "static_layer_params.yaml";
  getParams(config_file_name, priv_nh);
}

bool StaticLayer::getParams(const std::string& config_file_name, robot::NodeHandle &nh)
{
    try {
        std::string folder = ROBOT_COSTMAP_2D_DIR;
        std::string path_source = getSourceFile(folder,config_file_name);
        
        YAML::Node config = YAML::LoadFile(path_source);
        YAML::Node layer = config["static_layer"];

        // ===== 1. Load default từ layer (yaml / plugin config) =====
        bool enabled                = loadParam(layer, "enabled", true);
        bool first_map_only         = loadParam(layer, "first_map_only", false);
        bool subscribe_to_updates   = loadParam(layer, "subscribe_to_updates", false);
        bool track_unknown_space    = loadParam(layer, "track_unknown_space", true);
        bool use_maximum            = loadParam(layer, "use_maximum", false);
        int  lethal_cost_threshold  = loadParam(layer, "lethal_cost_threshold", 100);
        int  unknown_cost_value     = loadParam(layer, "unknown_cost_value", -1);
        bool trinary_costmap        = loadParam(layer, "trinary_costmap", true);
        std::string map_topic       = loadParam(layer, "map_topic", std::string("map")); 
        std::string base_frame_id   = loadParam(layer, "base_frame_id", std::string("map"));

        // ===== 2. Override từ ROS param server (chỉ khi param tồn tại) =====
        if (nh.hasParam("enabled"))
          nh.getParam("enabled", enabled, enabled);
        if (nh.hasParam("map_topic"))
          nh.getParam("map_topic", map_topic); 
        if (nh.hasParam("first_map_only"))
          nh.getParam("first_map_only", first_map_only);
        if (nh.hasParam("subscribe_to_updates"))
          nh.getParam("subscribe_to_updates", subscribe_to_updates);
        if (nh.hasParam("track_unknown_space"))
          nh.getParam("track_unknown_space", track_unknown_space);
        if (nh.hasParam("use_maximum"))
          nh.getParam("use_maximum", use_maximum);
        if (nh.hasParam("trinary_costmap"))
          nh.getParam("trinary_costmap", trinary_costmap);
        if (nh.hasParam("base_frame_id"))
          nh.getParam("base_frame_id", base_frame_id);
        if (nh.hasParam("lethal_cost_threshold"))
          nh.getParam("lethal_cost_threshold", lethal_cost_threshold);
        if (nh.hasParam("unknown_cost_value"))
          nh.getParam("unknown_cost_value", unknown_cost_value);

        map_topic_ = map_topic;
        first_map_only_ = first_map_only;
        subscribe_to_updates_ = subscribe_to_updates;
        track_unknown_space_ = track_unknown_space;
        use_maximum_ = use_maximum;
        lethal_threshold_ = std::max(std::min(lethal_cost_threshold, 100), 0);
        unknown_cost_value_ = unknown_cost_value;
        trinary_costmap_ = trinary_costmap;
        base_frame_id_ = base_frame_id;

        if (enabled_ != enabled) {
            enabled_ = enabled;
            has_updated_data_ = true;
            x_ = y_ = 0;
            width_ = size_x_;
            height_ = size_y_;
        }
    } 
    catch (const YAML::BadFile& e) {
        std::cerr << "Cannot open YAML file: " << e.what() << std::endl;
        return false;
    }

    return true;

}

void StaticLayer::matchSize()
{
  // If we are using rolling costmap, the static map size is
  //   unrelated to the size of the layered costmap
  if (!layered_costmap_->isRolling())
  {
    Costmap2D* master = layered_costmap_->getCostmap();
    resizeMap(master->getSizeInCellsX(), master->getSizeInCellsY(), master->getResolution(),
              master->getOriginX(), master->getOriginY());
  }
}

unsigned char StaticLayer::interpretValue(unsigned char value)
{
  
  // check if the static value is above the unknown or lethal thresholds
  if (track_unknown_space_ && value == unknown_cost_value_)
    {
      return NO_INFORMATION;
    }
  else if (!track_unknown_space_ && value == unknown_cost_value_)
  {
    return FREE_SPACE;
  }
    
  else if (value >= lethal_threshold_)
    {
      return LETHAL_OBSTACLE;
    }
  else if (trinary_costmap_)
    {
      return FREE_SPACE;
    }

  double scale = (double) value / lethal_threshold_;
  return scale * LETHAL_OBSTACLE;
}

void StaticLayer::handleImpl(const void* data, 
                            const std::type_info& type,
                            const std::string& topic)
{
    if (type == typeid(robot_nav_msgs::OccupancyGrid) && topic == map_topic_) {
        incomingMap(*static_cast<const robot_nav_msgs::OccupancyGrid*>(data));
    } else if (type == typeid(robot_map_msgs::OccupancyGridUpdate) && topic == map_topic_ + "_updates") {
        incomingUpdate(*static_cast<const robot_map_msgs::OccupancyGridUpdate*>(data));
    } else {
        std::cout << "[Plugin] Unknown type: " << type.name() << std::endl;
    }
}

void StaticLayer::incomingMap(const robot_nav_msgs::OccupancyGrid& new_map)
{
  if(!map_shutdown_)
  {
    std::cout << "Received new map!" << std::endl;
    unsigned int size_x = new_map.info.width, size_y = new_map.info.height;

    printf("Received a %d X %d map at %f m/pix\n", size_x, size_y, new_map.info.resolution);

    // resize costmap if size, resolution or origin do not match
    Costmap2D* master = layered_costmap_->getCostmap();
    if (!layered_costmap_->isRolling() &&
        (master->getSizeInCellsX() != size_x ||
        master->getSizeInCellsY() != size_y ||
        master->getResolution() != new_map.info.resolution ||
        master->getOriginX() != new_map.info.origin.position.x ||
        master->getOriginY() != new_map.info.origin.position.y))
    {
      // Update the size of the layered costmap (and all layers, including this one)
      printf("Resizing costmap to %d X %d at %f m/pix\n", size_x, size_y, new_map.info.resolution);
      layered_costmap_->resizeMap(size_x, size_y, new_map.info.resolution, new_map.info.origin.position.x,
                                  new_map.info.origin.position.y,
                                  true /* set size_locked to true, prevents reconfigureCb from overriding map size*/);
    }
    else if (size_x_ != size_x || size_y_ != size_y ||
            resolution_ != new_map.info.resolution ||
            origin_x_ != new_map.info.origin.position.x ||
            origin_y_ != new_map.info.origin.position.y)
    {
      // only update the size of the costmap stored locally in this layer
      printf("Resizing static layer to %d X %d at %f m/pix\n", size_x, size_y, new_map.info.resolution);
      resizeMap(size_x, size_y, new_map.info.resolution,
                new_map.info.origin.position.x, new_map.info.origin.position.y);
    }

    unsigned int index = 0;
    // // 1. Tạo file (nếu chưa có) + mở để ghi
    // std::ofstream file("/home/duongtd/ros_test_ws/src/third_party/costmap_2d/data.txt", std::ios::app);

    // // 2. Kiểm tra mở file thành công
    // if (!file)
    // {
    //     std::cerr << "Cannot create file\n";
    //     return ;
    // }

    // initialize the costmap with static data
    for (unsigned int i = 0; i < size_y; ++i)
    {
      for (unsigned int j = 0; j < size_x; ++j)
      {
        unsigned char value = new_map.data[index];
        costmap_[index] = interpretValue(value);
        // printf("%d , ",costmap_[index]);
        // 3. Ghi giá trị biến
        // file << static_cast<int>(costmap_[index]) << " , ";
        ++index;
        // printf("%d , ",costmap_[index]);
      }
      // file << std::endl;
    }
    // // 4. Đóng file
    // file.close();
    map_frame_ = new_map.header.frame_id;

    // we have a new map, update full size of map
    x_ = y_ = 0;
    width_ = size_x_;
    height_ = size_y_;
    map_received_ = true;
    has_updated_data_ = true;
  }
  else
  {
    printf("Stop receive new map!");
  }

  // shutdown the map subscrber if firt_map_only_ flag is on
  if (first_map_only_)
  {
    printf("Shutting down the map subscriber. first_map_only flag is on\n");
    map_shutdown_ = true;
  }
}

void StaticLayer::incomingUpdate(const robot_map_msgs::OccupancyGridUpdate& update)
{
  if(!map_update_shutdown_)
  {
    std::cout << "Update new map!" << std::endl;
    unsigned int di = 0;
    for (unsigned int y = 0; y < update.height ; y++)
    {
      unsigned int index_base = (update.y + y) * size_x_;
      for (unsigned int x = 0; x < update.width ; x++)
      {
        unsigned int index = index_base + x + update.x;
        costmap_[index] = interpretValue(update.data[di++]);
      }
    }
    x_ = update.x;
    y_ = update.y;
    width_ = update.width;
    height_ = update.height;
    has_updated_data_ = true;
  }
}

void StaticLayer::activate()
{
  map_shutdown_ = false;
  map_update_shutdown_ = false;
  onInitialize();
}

void StaticLayer::deactivate()
{
  map_shutdown_ = true;
  if (subscribe_to_updates_)
    map_update_shutdown_ = true;
}

void StaticLayer::reset()
{
  if (first_map_only_)
  {
    map_shutdown_ = false;
    map_update_shutdown_ = false;
    has_updated_data_ = true;
  }
  else
  {
    onInitialize();
  }
  printf("RESET MAP");
}

void StaticLayer::updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
                               double* max_x, double* max_y)
{

  if( !layered_costmap_->isRolling() ){
    if (!map_received_ || !(has_updated_data_ || has_extra_bounds_))
      return;
  }

  useExtraBounds(min_x, min_y, max_x, max_y);

  double wx, wy;

  mapToWorld(x_, y_, wx, wy);
  *min_x = std::min(wx, *min_x);
  *min_y = std::min(wy, *min_y);

  mapToWorld(x_ + width_, y_ + height_, wx, wy);
  *max_x = std::max(wx, *max_x);
  *max_y = std::max(wy, *max_y);

  has_updated_data_ = false;
}

void StaticLayer::updateCosts(robot_costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j)
{
  if (!map_received_)
    return;

  if (!layered_costmap_->isRolling())
  {
    // if not rolling, the layered costmap (master_grid) has same coordinates as this layer
    if (!use_maximum_)
      updateWithOverwrite(master_grid, min_i, min_j, max_i, max_j); 
    else
      updateWithMax(master_grid, min_i, min_j, max_i, max_j);
  }
  else
  {
    // If rolling window, the master_grid is unlikely to have same coordinates as this layer
    unsigned int mx, my;
    double wx, wy;
    // Might even be in a different frame
    // robot_geometry_msgs::TransformStamped transform;
    tf3::TransformStampedMsg transformMsg;
    try
    {
      transformMsg = tf_->lookupTransform(map_frame_, global_frame_, tf3::Time());
    }
    catch (tf3::TransformException ex)
    {
      printf("%s", ex.what());
      return;
    }
    // Copy map data given proper transformations
    tf3::Transform tf3_transform;
    tf3_transform = data_convert::convertTotf3Transform(transformMsg.transform);
    // tf2::Transform tf2_transform;
    // tf2::convert(transform.transform, tf2_transform);
    for (unsigned int i = min_i; i < max_i; ++i)
    {
      for (unsigned int j = min_j; j < max_j; ++j)
      {
        // Convert master_grid coordinates (i,j) into global_frame_(wx,wy) coordinates
        layered_costmap_->getCostmap()->mapToWorld(i, j, wx, wy);
        // Transform from global_frame_ to map_frame_
        tf3::Vector3 p(wx, wy, 0);
        p = tf3_transform*p;
        // Set master_grid with cell from map
        if (worldToMap(p.x(), p.y(), mx, my))
        {
          if (!use_maximum_)
            master_grid.setCost(i, j, getCost(mx, my));
          else
            master_grid.setCost(i, j, std::max(getCost(mx, my), master_grid.getCost(i, j)));
        }
      }
    }
  }
}

// Export factory function
static boost::shared_ptr<Layer> create_static_plugin() {
    return boost::make_shared<StaticLayer>();
}

// Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
BOOST_DLL_ALIAS(create_static_plugin, StaticLayer)

}  // namespace robot_costmap_2d