/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2018, Locus Robotics
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
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 *  are met:
 *
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 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#ifndef ROBOT_NAV_CORE_ADAPTER_COSTMAP_ADAPTER_H
#define ROBOT_NAV_CORE_ADAPTER_COSTMAP_ADAPTER_H

#include <robot_nav_core2/common.h>
#include <robot_nav_core2/costmap.h>
#include <robot_costmap_2d/costmap_2d_robot.h>
#include <string>

namespace robot_nav_core_adapter
{
nav_grid::NavGridInfo infoFromCostmap(robot_costmap_2d::Costmap2DROBOT* costmap_robot);

class CostmapAdapter : public robot_nav_core2::Costmap
{
public:
  /**
   * @brief Deconstructor for possibly freeing the costmap_robot_ object
   */
  virtual ~CostmapAdapter();

  /**
   * @brief Initialize from an existing Costmap2DROBOT object
   * @param costmap_robot A Costmap2DROBOT object
   * @param needs_destruction Whether to free the costmap_robot object when this class is destroyed
   */
  void initialize(robot_costmap_2d::Costmap2DROBOT* costmap_robot, bool needs_destruction = false);

  // Standard Costmap Interface
  void initialize(const robot::NodeHandle& parent, const std::string& name, TFListenerPtr tf) override;
  robot_nav_core2::Costmap::mutex_t* getMutex() override;

  // NavGrid Interface
  void reset() override;
  void update() override;
  void setValue(const unsigned int x, const unsigned int y, const unsigned char& value) override;
  unsigned char getValue(const unsigned int x, const unsigned int y) const override;
  void setInfo(const nav_grid::NavGridInfo& new_info) override;
  void updateInfo(const nav_grid::NavGridInfo& new_info) override;

  // Get Costmap Pointer for Backwards Compatibility
  robot_costmap_2d::Costmap2DROBOT* getCostmap2DROBOT() const { return costmap_robot_; }

protected:
  robot_costmap_2d::Costmap2DROBOT* costmap_robot_;
  robot_costmap_2d::Costmap2D* costmap_;
  bool needs_destruction_;
};

}  // namespace robot_nav_core_adapter

#endif  // ROBOT_NAV_CORE_ADAPTER_COSTMAP_ADAPTER_H
