/*********************************************************************
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2008, 2013, Willow Garage, Inc.
 *  Copyright (c) 2020, Samsung R&D Institute Russia
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     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.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     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
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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 *
 * Author: Eitan Marder-Eppstein
 *         David V. Lu!!
 *         Alexey Merzlyakov
 *
 * Reference tutorial:
 * https://navigation.ros.org/tutorials/docs/writing_new_costmap2d_plugin.html
 *********************************************************************/
#ifndef GRADIENT_LAYER_HPP_
#define GRADIENT_LAYER_HPP_

#include "rclcpp/rclcpp.hpp"
#include "nav2_costmap_2d/layer.hpp"
#include "nav2_costmap_2d/layered_costmap.hpp"
#include "nav2_costmap_2d/footprint.hpp"
#include "nav2_costmap_2d/costmap_layer.hpp"
#include "nav2_costmap_2d/layered_costmap.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"
#include "std_msgs/msg/string.hpp"

namespace nav2_gradient_costmap_plugin
{

struct PointInt {
int x;
int y;
PointInt(int x_, int y_):x(x_), y(y_){}
};

class GradientLayer : public nav2_costmap_2d::CostmapLayer
{
public:
  GradientLayer();

  virtual void onInitialize();
  virtual void updateBounds(
    double robot_x, double robot_y, double robot_yaw, double * min_x,
    double * min_y,
    double * max_x,
    double * max_y);
  virtual void updateCosts(
    nav2_costmap_2d::Costmap2D & master_grid,
    int min_i, int min_j, int max_i, int max_j);

  virtual void reset()
  {
    return;
  }

  virtual void onFootprintChanged();

  virtual bool isClearable() {return false;}

  std::vector<geometry_msgs::msg::Point> transformed_footprint_;
  std::vector<std::vector<geometry_msgs::msg::Point>> _free_polygons; 
  std::vector<PointInt> PointVector;

  void updateFootprint(
    double robot_x, double robot_y, double robot_yaw, double * min_x,
    double * min_y,
    double * max_x,
    double * max_y);

  void incomingData();


private:
  double last_min_x_, last_min_y_, last_max_x_, last_max_y_;

  // Indicates that the entire gradient should be recalculated next time.
  bool need_recalculation_;


  bool map_received_;
  bool rolling_window_;


  rclcpp::Subscription<geometry_msgs::msg::Point>::SharedPtr data_sub_;
  rclcpp::Subscription<geometry_msgs::msg::Point>::SharedPtr subscription_;

  void topic_callback(const geometry_msgs::msg::Point::SharedPtr msg);
};

}  // namespace nav2_gradient_costmap_plugin

#endif  // GRADIENT_LAYER_HPP_