#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>
#include <costmap_2d/obstacle_layer.h>
#include <costmap_2d/inflation_layer.h>
#include <costmap_2d/critical_layer.h>
#include <costmap_2d/preferred_layer.h>
using namespace costmap_2d;

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

    // auto creator = boost::dll::import_alias<costmap_2d::PluginCostmapLayerPtr()>(
    //     "./costmap_2d/libstatic_layer.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");

    // 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, "map_update");


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

    // plugin = creator();
    // std::cout << "Plugin created successfully" << std::endl;

    // plugin->initialize(&layered_costmap, "obstacle_layer", &tf_buffer);

    // sensor_msgs::LaserScan scan;

    // // --- Header ---
    // scan.header.seq = 1;
    // scan.header.stamp = robot::Time::now();  // nếu bạn chưa có Time class, gán tạm số
    // scan.header.frame_id = "laser_frame";

    // // --- Cấu hình góc ---
    // scan.angle_min = -M_PI;             // -180 độ
    // scan.angle_max = M_PI;              // +180 độ
    // scan.angle_increment = M_PI / 180;  // 1 độ mỗi tia

    // // --- Cấu hình thời gian ---
    // scan.time_increment = 0.0001f;  // mỗi tia cách nhau 0.1 ms
    // scan.scan_time = 0.04f;         // tổng thời gian quét 40 ms (~25Hz)

    // // --- Giới hạn đo ---
    // scan.range_min = 0.1f;
    // scan.range_max = 10.0f;

    // // --- Tạo dữ liệu ---
    // int num_readings = static_cast<int>((scan.angle_max - scan.angle_min) / scan.angle_increment);
    // scan.ranges.resize(num_readings);
    // scan.intensities.resize(num_readings);

    // for (int i = 0; i < num_readings; ++i)
    // {
    //     float angle = scan.angle_min + i * scan.angle_increment;

    //     // Tạo dữ liệu giả lập: vật thể cách 2m, dao động nhẹ theo góc
    //     scan.ranges[i] = 2.0f + 0.2f * std::sin(3.0f * angle);

    //     // Giả lập cường độ phản xạ
    //     scan.intensities[i] = 100.0f + 20.0f * std::cos(angle);
    // }

    // // --- In thử 10 giá trị đầu ---
    // // for (int i = 0; i < 10; ++i)
    // // {
    // //     std::cout << "Angle " << (scan.angle_min + i * scan.angle_increment)
    // //               << " rad | Range " << scan.ranges[i]
    // //               << " m | Intensity " << scan.intensities[i]
    // //               << std::endl;
    // // }
    // plugin->deactivate();
    // plugin->dataCallBack(scan, "laser_valid");

    // sensor_msgs::PointCloud cloud;

    // // 2. Thiết lập header
    // cloud.header.stamp.sec = 1234567890;   // hoặc ros::Time::now().sec
    // cloud.header.stamp.nsec = 0;
    // cloud.header.frame_id = "laser_frame";

    // // 3. Thêm một vài điểm
    // geometry_msgs::Point32 pt1;
    // pt1.x = 1.0f; pt1.y = 0.0f; pt1.z = 0.0f;

    // geometry_msgs::Point32 pt2;
    // pt2.x = 0.0f; pt2.y = 1.0f; pt2.z = 0.0f;

    // geometry_msgs::Point32 pt3;
    // pt3.x = 1.0f; pt3.y = 1.0f; pt3.z = 0.0f;

    // cloud.points.push_back(pt1);
    // cloud.points.push_back(pt2);
    // cloud.points.push_back(pt3);

    // // 4. Thêm dữ liệu channels (tùy chọn)
    // cloud.channels.resize(1);
    // cloud.channels[0].name = "intensity";
    // cloud.channels[0].values.push_back(0.5f);
    // cloud.channels[0].values.push_back(1.0f);
    // cloud.channels[0].values.push_back(0.8f);

    // plugin->dataCallBack(cloud, "pcl_cb");





    
    // // std::cout << "Plugin activated successfully" << std::endl;
    // auto creator = boost::dll::import_alias<costmap_2d::PluginLayerPtr()>(
    //     "./costmap_2d/libinflation_layer.so", "create_plugin_layer", boost::dll::load_mode::append_decorations
    // );

    // costmap_2d::PluginLayerPtr 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, "inflation_layer", &tf_buffer);
    // plugin->onFootprintChanged();
    
    // std::cout << "Plugin initialized" << std::endl;


    auto creator_1 = boost::dll::import_alias<costmap_2d::PluginStaticLayerPtr()>(
        "./costmap_2d/libpreferred_layer.so", "create_plugin_static_layer", boost::dll::load_mode::append_decorations
    );

    costmap_2d::PluginStaticLayerPtr plugin_1 = creator_1();
    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;
    plugin_1->initialize(&layered_costmap, "critical_layer", &tf_buffer);
    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_1->CostmapLayer::dataCallBack(grid, "map");
    
    std::cout << "Plugin initialized" << std::endl;
}