#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>
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;
}