#include <costmap_2d/static_layer.h>
#include <costmap_2d/costmap_math.h>
#include <tf2/convert.h>
#include <tf2/utils.h>
// #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <boost/dll/alias.hpp>

using costmap_2d::NO_INFORMATION;
using costmap_2d::LETHAL_OBSTACLE;
using costmap_2d::FREE_SPACE;

namespace costmap_2d
{

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

StaticLayer::~StaticLayer()
{}

void StaticLayer::onInitialize()
{
  // ros::NodeHandle nh("~/" + name_), g_nh;
  current_ = true;

  global_frame_ = layered_costmap_->getGlobalFrameID();
  // nh.param("map_topic", map_topic_, std::string("map")); 
  // nh.param("first_map_only", first_map_only_, false);
  // nh.param("subscribe_to_updates", subscribe_to_updates_, false);

  // nh.param("track_unknown_space", track_unknown_space_, true);
  // nh.param("use_maximum", use_maximum_, false);

  // int temp_lethal_threshold, temp_unknown_cost_value;
  // nh.param("lethal_cost_threshold", temp_lethal_threshold, int(100));
  // nh.param("unknown_cost_value", temp_unknown_cost_value, int(-1));
  // nh.param("trinary_costmap", trinary_costmap_, true);
  // nh.param("base_frame_id", base_frame_id_, std::string("base_footprint"));

  // lethal_threshold_ = std::max(std::min(temp_lethal_threshold, 100), 0);
  // unknown_cost_value_ = temp_unknown_cost_value;

  // Only resubscribe if topic has changed
  // if (map_sub_.getTopic() != ros::names::resolve(map_topic_))
  // {
  //   // we'll subscribe to the latched topic that the map server uses
  //   printf("Requesting the map...");
  //   map_sub_ = g_nh.subscribe(map_topic_, 1, &StaticLayer::incomingMap, this);
  //   map_received_ = false;
  //   has_updated_data_ = false;

  //   ros::Rate r(10);
  //   while (!map_received_ && g_nh.ok())
  //   {
  //     ros::spinOnce();
  //     r.sleep();
  //   }

  //   printf("Received a %d X %d map at %f m/pix", getSizeInCellsX(), getSizeInCellsY(), getResolution());

  //   if (subscribe_to_updates_)
  //   {
  //     printf("Subscribing to updates");
  //     map_update_sub_ = g_nh.subscribe(map_topic_ + "_updates", 10, &StaticLayer::incomingUpdate, this);
  //   }
  // }
  // else
  // {
  //   has_updated_data_ = true;
  // }

}

// void StaticLayer::reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level)
// {
//   if (config.enabled != enabled_)
//   {
//     enabled_ = config.enabled;
//     has_updated_data_ = true;
//     x_ = y_ = 0;
//     width_ = size_x_;
//     height_ = size_y_;
//   }
// }

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::incomingMap(const nav_msgs::OccupancyGrid& new_map)
{
  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", 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", 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", 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;

  // 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);
      ++index;
    }
  }
  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;

  // 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");
    // map_sub_.shutdown();
  }
}

void StaticLayer::incomingUpdate(const map_msgs::OccupancyGridUpdate& update)
{
  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()
{
  onInitialize();
}

// void StaticLayer::deactivate()
// {
//   map_sub_.shutdown();
//   if (subscribe_to_updates_)
//     map_update_sub_.shutdown();
// }

void StaticLayer::reset()
{
  if (first_map_only_)
  {
    has_updated_data_ = true;
  }
  else
  {
    onInitialize();
  }
}

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(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
    geometry_msgs::TransformStamped transform;
    tf2::TransformStampedMsg transformMsg;
    try
    {
      // transformMsg = tf_->lookupTransform(map_frame_, global_frame_, ros::Time(0));
      tf_->canTransform(map_frame_, global_frame_, tf2::Time());
      tf_->lookupTransform(map_frame_, 
                        global_frame_,
                        tf2::Time());
    }
    catch (tf2::TransformException ex)
    {
      printf("%s", ex.what());
      return;
    }
    // Copy map data given proper transformations
    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_
        tf2::Vector3 p(wx, wy, 0);
        // p = tf2_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 PluginPtr create_static_plugin() {
    return std::make_shared<StaticLayer>();
}

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

}  // namespace costmap_2d