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// Copyright 2024 TIER IV, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#pragma once

#include "nebula_ros/common/parameter_descriptors.hpp"
#include "nebula_ros/common/watchdog_timer.hpp"

#include <nebula_common/continental/continental_ars548.hpp>
#include <nebula_common/nebula_common.hpp>
#include <nebula_common/util/expected.hpp>
#include <nebula_decoders/nebula_decoders_continental/decoders/continental_ars548_decoder.hpp>
#include <rclcpp/rclcpp.hpp>

#include <continental_msgs/msg/continental_ars548_detection.hpp>
#include <continental_msgs/msg/continental_ars548_detection_list.hpp>
#include <continental_msgs/msg/continental_ars548_object.hpp>
#include <continental_msgs/msg/continental_ars548_object_list.hpp>
#include <diagnostic_msgs/msg/diagnostic_array.hpp>
#include <nebula_msgs/msg/nebula_packet.hpp>
#include <nebula_msgs/msg/nebula_packets.hpp>
#include <radar_msgs/msg/radar_scan.hpp>
#include <radar_msgs/msg/radar_tracks.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <visualization_msgs/msg/marker_array.hpp>

#include <memory>
#include <mutex>
#include <unordered_set>
#include <vector>

namespace nebula::ros
{
class ContinentalARS548DecoderWrapper
{
public:
  ContinentalARS548DecoderWrapper(
    rclcpp::Node * const parent_node,
    std::shared_ptr<
      const nebula::drivers::continental_ars548::ContinentalARS548SensorConfiguration> & config,
    bool launch_hw);

  void process_packet(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg);

  void on_config_change(
    const std::shared_ptr<
      const nebula::drivers::continental_ars548::ContinentalARS548SensorConfiguration> &
      new_config);

  rcl_interfaces::msg::SetParametersResult on_parameter_change(
    const std::vector<rclcpp::Parameter> & p);

  nebula::Status status();

  void detection_list_callback(
    std::unique_ptr<continental_msgs::msg::ContinentalArs548DetectionList> msg);

  void object_list_callback(
    std::unique_ptr<continental_msgs::msg::ContinentalArs548ObjectList> msg);

  void sensor_status_callback(
    const drivers::continental_ars548::ContinentalARS548Status & sensor_status);

  void packets_callback(std::unique_ptr<nebula_msgs::msg::NebulaPackets> msg);

private:
  nebula::Status initialize_driver(
    const std::shared_ptr<
      const nebula::drivers::continental_ars548::ContinentalARS548SensorConfiguration> & config);

  pcl::PointCloud<nebula::drivers::continental_ars548::PointARS548Detection>::Ptr
  convert_to_pointcloud(const continental_msgs::msg::ContinentalArs548DetectionList & msg);

  pcl::PointCloud<nebula::drivers::continental_ars548::PointARS548Object>::Ptr
  convert_to_pointcloud(const continental_msgs::msg::ContinentalArs548ObjectList & msg);

  radar_msgs::msg::RadarScan convert_to_radar_scan(
    const continental_msgs::msg::ContinentalArs548DetectionList & msg);

  radar_msgs::msg::RadarTracks convert_to_radar_tracks(
    const continental_msgs::msg::ContinentalArs548ObjectList & msg);

  visualization_msgs::msg::MarkerArray convert_to_markers(
    const continental_msgs::msg::ContinentalArs548ObjectList & msg);

  static inline std::chrono::nanoseconds seconds_to_chrono_nano_seconds(const double seconds)
  {
    return std::chrono::duration_cast<std::chrono::nanoseconds>(
      std::chrono::duration<double>(seconds));
  }

  nebula::Status status_;
  rclcpp::Logger logger_;

  std::shared_ptr<const nebula::drivers::continental_ars548::ContinentalARS548SensorConfiguration>
    config_ptr_{};

  std::shared_ptr<drivers::continental_ars548::ContinentalARS548Decoder> driver_ptr_{};
  std::mutex mtx_driver_ptr_;

  rclcpp::Publisher<nebula_msgs::msg::NebulaPackets>::SharedPtr packets_pub_{};

  rclcpp::Publisher<continental_msgs::msg::ContinentalArs548DetectionList>::SharedPtr
    detection_list_pub_{};
  rclcpp::Publisher<continental_msgs::msg::ContinentalArs548ObjectList>::SharedPtr
    object_list_pub_{};
  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr object_pointcloud_pub_{};
  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr detection_pointcloud_pub_{};
  rclcpp::Publisher<radar_msgs::msg::RadarScan>::SharedPtr scan_raw_pub_{};
  rclcpp::Publisher<radar_msgs::msg::RadarTracks>::SharedPtr objects_raw_pub_{};
  rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr objects_markers_pub_{};
  rclcpp::Publisher<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr diagnostics_pub_{};

  std::unordered_set<int> previous_ids_{};

  constexpr static int reference_points_num = 9;
  constexpr static std::array<std::array<double, 2>, reference_points_num> reference_to_center = {
    {{{-1.0, -1.0}},
     {{-1.0, 0.0}},
     {{-1.0, 1.0}},
     {{0.0, 1.0}},
     {{1.0, 1.0}},
     {{1.0, 0.0}},
     {{1.0, -1.0}},
     {{0.0, -1.0}},
     {{0.0, 0.0}}}};

  std::shared_ptr<WatchdogTimer> watchdog_;
};
}  // namespace nebula::ros