/*
Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co)
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.
*/

#include "host_sdk_sample.h"
#include "yaml_parser.h"
#include "rawCloudRender.h"
#include <filesystem> 
#include <thread>
#include <string>
#include <stdexcept>
#include <atomic>
#include <mutex>
#include <memory>
#include <opencv2/opencv.hpp>
#include <deque> 
#include <unistd.h> 
#include <cstdlib>
#include <cstring>
#include <sys/types.h>
#include <sys/wait.h>
#include <signal.h>
#include <chrono>
#include <filesystem>
#include <fstream>
#include <vector>
#include <cstdio>
#include <array>
// #include <yaml-cpp/yaml.h>
#include <iomanip>
#ifdef ROS2
    #include <ament_index_cpp/get_package_share_directory.hpp>
    #include <rclcpp/rclcpp.hpp>
#else
    #include <ros/package.h>
    #include <ros/ros.h> 
#endif
#define ros_driver_version "0.5.2"
// Global variable declarations
static device_handle odinDevice = nullptr;
static std::atomic<bool> deviceConnected(false);
static std::atomic<bool> deviceDisconnected(false);  // Device disconnection flag
static std::mutex device_mutex;                      // Device operation mutex lock
static std::atomic<bool> g_connection_timeout(false);
static std::atomic<bool> g_usb_version_error(false);
#ifdef ROS2
    std::shared_ptr<MultiSensorPublisher> g_ros_object = nullptr;
#else
    MultiSensorPublisher* g_ros_object = nullptr;
#endif

int g_log_level = LOG_LEVEL_INFO;  
int g_show_fps = 0;  // FPS display toggle control

static std::mutex g_rgb_mutex;
static std::shared_ptr<cv::Mat> g_latest_bgr;
static uint64_t g_latest_rgb_timestamp = 0;
static bool g_has_rgb = false;
static capture_Image_List_t g_latest_rgb;
static bool g_renderer_initialized = false;
static std::shared_ptr<rawCloudRender> g_renderer = nullptr;
std::string calib_file_ = "";

 // usb device
static std::string TARGET_VENDOR = "2207";
static std::string TARGET_PRODUCT = "0019";
// Global configuration variables
int g_sendrgb = 1;
int g_sendimu = 1;
int g_senddtof = 1;
int g_sendodom = 1;
int g_sendcloudslam = 0;
int g_sendcloudrender = 0;
int g_sendrgb_compressed = 0;
int g_sendrgb_undistort = 0;
int g_record_data = 0;
int g_devstatus_log = 0;
int g_pub_intensity_gray = 0;
int g_show_path = 0;
int g_show_camerapose = 0;

std::filesystem::path log_root_dir_;
const char* DEV_STATUS_CSV_FILE = "dev_status.csv";
FILE* dev_status_csv_file = nullptr;

typedef struct  {
    struct timespec start = {0, 0};
    struct timespec last = {0, 0};
    int count = 0;
    std::mutex fps_mutex;
} fpsHandle;

void update_count(fpsHandle* handle) {
    struct timespec now;
    std::lock_guard<std::mutex> lock(handle->fps_mutex);
    clock_gettime(CLOCK_MONOTONIC, &now);
    if (handle->count == 0) {
        handle->start = now;
    } else {
        handle->last = now;
    }
    handle->count++;
}

double cal_fps(fpsHandle* handle, const char* name, bool print = false) 
{
    std::lock_guard<std::mutex> lock(handle->fps_mutex);
    if (handle->count < 2) {
        return 0.0;
    }
    double elapsed = (handle->last.tv_sec - handle->start.tv_sec)
                   + (handle->last.tv_nsec - handle->start.tv_nsec) / 1e9;
    double fps = (handle->count - 1) / elapsed;
    if (print) {
        #ifdef ROS2
            RCLCPP_INFO(rclcpp::get_logger("device_cb"), "%s FPS: %f (count: %d, elapsed: %f)", name, fps, handle->count, elapsed);
        #else
            ROS_INFO("%s FPS: %f (count: %d, elapsed: %f)", name, fps, handle->count, elapsed);
        #endif
    }
    handle->start = handle->last;
    handle->count = 1;
    return fps;
}

static fpsHandle rgb_rx_fps;
static fpsHandle dtof_rx_fps;
static fpsHandle imu_rx_fps;
static fpsHandle slam_cloud_rx_fps;
static fpsHandle slam_odom_rx_fps;
static fpsHandle slam_odom_highfreq_rx_fps;

class RosNodeControlImpl : public RosNodeControlInterface {
    public:
        void setDtofSubframeODR(int interval) override {
            dtof_subframe_interval_time = interval;
        }
        
        int getDtofSubframeODR() const override {
            return dtof_subframe_interval_time;
        }
    
    private:
        int dtof_subframe_interval_time = 0;
    };
    
static RosNodeControlImpl g_rosNodeControlImpl;

RosNodeControlInterface* getRosNodeControl() {
    return &g_rosNodeControlImpl;
}

// Return resident memory (RSS) in **megabytes** for a given PID
double read_rss_mb(pid_t pid) {
    std::string path = "/proc/" + std::to_string(pid) + "/status";
    std::ifstream in(path);
    if (!in) return 0.0;
    std::string key;
    long kb = 0;
    while (in >> key) {
        if (key == "VmRSS:") {        // VmRSS is reported in kB
            in >> kb;
            break;
        }
        in.ignore(std::numeric_limits<std::streamsize>::max(), '\n');
    }
    return kb / 1024.0;               // convert to MB
}

double read_pss_mb(pid_t pid) {
    std::string path = "/proc/" + std::to_string(pid) + "/smaps_rollup";
    std::ifstream in(path);
    if (!in) return 0.0;
    std::string key;
    long kb = 0;
    while (in >> key) {
        if (key == "Pss:") {     // Proportional Set Size in kB
            in >> kb;
            break;
        }
        in.ignore(std::numeric_limits<std::streamsize>::max(), '\n');
    }
    return kb / 1024.0;          // convert to MB
}

// Recursively collect child PIDs of the given pid
void collect_children(pid_t pid, std::vector<pid_t>& all) {
    std::string task_path = "/proc/" + std::to_string(pid) +
                            "/task/" + std::to_string(pid) + "/children";
    std::ifstream in(task_path);
    pid_t child;
    while (in >> child) {
        all.push_back(child);
        collect_children(child, all);
    }
}

void clear_all_queues();

// detect USB3.0
bool isUsb3OrHigher(const std::string& vendorId, const std::string& productId) {
    std::string command = "lsusb -d " + vendorId + ":" + productId + " -v | grep 'bcdUSB'";
    
    std::array<char, 128> buffer;
    std::string result;
    std::unique_ptr<FILE, decltype(&pclose)> pipe(popen(command.c_str(), "r"), pclose);
    if (!pipe) {
        throw std::runtime_error("popen() failed!");
    }
    while (fgets(buffer.data(), buffer.size(), pipe.get()) != nullptr) {
        result += buffer.data();
    }
    
    if (result.empty()) {
        #ifdef ROS2
            RCLCPP_ERROR(rclcpp::get_logger("usb_check"), "Failed to get USB version information");
        #else
            ROS_ERROR("Failed to get USB version information");
        #endif
        return false;
    }
    
    // find bcdUSB
    size_t pos = result.find("bcdUSB");
    if (pos == std::string::npos) {
        #ifdef ROS2
            RCLCPP_ERROR(rclcpp::get_logger("usb_check"), "bcdUSB field not found in lsusb output");
        #else
            ROS_ERROR("bcdUSB field not found in lsusb output");
        #endif
        return false;
    }
    
    std::string versionStr = result.substr(pos + 7); // "bcdUSB" + space
    float version = std::stof(versionStr);
    
    #ifdef ROS2
        RCLCPP_INFO(rclcpp::get_logger("usb_check"), "Detected USB version: %.1f", version);
    #else
        ROS_INFO("Detected USB version: %.1f", version);
    #endif
    return version >= 3.0;
}

bool isUsbDevicePresent(const std::string& vendorId, const std::string& productId) {
    std::ifstream devicesList("/sys/bus/usb/devices");
    if (devicesList.is_open()) {
        std::string line;
        while (std::getline(devicesList, line)) {
            if (line.find('.') != std::string::npos) continue;
            if (line.empty()) continue;
            
            std::string vendorPath = "/sys/bus/usb/devices/" + line + "/idVendor";
            std::ifstream vendorFile(vendorPath);
            if (vendorFile.is_open()) {
                std::string vendorContent;
                if (std::getline(vendorFile, vendorContent)) {
                    vendorContent.erase(vendorContent.find_last_not_of(" \n\r\t") + 1);
                    
                    std::string productPath = "/sys/bus/usb/devices/" + line + "/idProduct";
                    std::ifstream productFile(productPath);
                    if (productFile.is_open()) {
                        std::string productContent;
                        if (std::getline(productFile, productContent)) {
                            productContent.erase(productContent.find_last_not_of(" \n\r\t") + 1);
                            
                            if (vendorContent == vendorId && productContent == productId) {
                                return true;
                            }
                        }
                        productFile.close();
                    }
                }
                vendorFile.close();
            }
        }
        devicesList.close();
    }
    return false;
}
// Convert calib.yaml to cam_in_ex.txt
static bool convert_calib_to_cam_in_ex(const std::string& calib_path, const std::filesystem::path& out_path) {
    try {
        if (calib_path.empty()) {
            #ifdef ROS2
                RCLCPP_WARN(rclcpp::get_logger("device_cb"), "calib_file_ is empty, skip writing cam_in_ex.txt");
            #else
                ROS_WARN("calib_file_ is empty, skip writing cam_in_ex.txt");
            #endif
            return false;
        }

        YAML::Node root = YAML::LoadFile(calib_path);

        // Read Tcl_0 matrix (16 values)
        std::array<double, 16> Tcl{};
        YAML::Node tcl = root["Tcl_0"];
        for (size_t i = 0; i < 16; ++i) {
            if (tcl && tcl.IsSequence() && i < tcl.size()) {
                Tcl[i] = tcl[i].as<double>();
            } else {
                // Default last row to [0,0,0,1] if missing, others 0
                Tcl[i] = (i == 15) ? 1.0 : 0.0;
            }
        }

        // Read cam_0 parameters (with defaults)
        YAML::Node cam0 = root["cam_0"];
        auto get_i = [&](const char* key, int def) -> int {
            return (cam0 && cam0[key]) ? cam0[key].as<int>() : def;
        };
        auto get_d = [&](const char* key, double def) -> double {
            return (cam0 && cam0[key]) ? cam0[key].as<double>() : def;
        };

        int image_width = get_i("image_width", 0);
        int image_height = get_i("image_height", 0);
        double k2 = get_d("k2", 0.0);
        double k3 = get_d("k3", 0.0);
        double k4 = get_d("k4", 0.0);
        double k5 = get_d("k5", 0.0);
        double k6 = get_d("k6", 0.0);
        double k7 = get_d("k7", 0.0);
        double p1 = get_d("p1", 0.0);
        double p2 = get_d("p2", 0.0);
        double A11 = get_d("A11", 0.0);
        double A12 = get_d("A12", 0.0);
        double A22 = get_d("A22", 0.0);
        double u0 = get_d("u0", 0.0);
        double v0 = get_d("v0", 0.0);

        // Ensure parent directory exists
        std::error_code ec;
        std::filesystem::create_directories(out_path.parent_path(), ec);

        // Truncate file then write content
        std::ofstream ofs(out_path, std::ios::out | std::ios::trunc);
        if (!ofs.is_open()) {
            #ifdef ROS2
                RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Failed to open cam_in_ex.txt for write: %s", out_path.string().c_str());
            #else
                ROS_ERROR("Failed to open cam_in_ex.txt for write: %s", out_path.string().c_str());
            #endif
            return false;
        }

        auto fmt = [](double v) {
            std::ostringstream ss; ss.setf(std::ios::fixed); ss << std::setprecision(6) << v; return ss.str();
        };

        // Write Tcl_0 with line breaks every 4 elements
        ofs << "Tcl_0: [";
        for (int i = 0; i < 16; ++i) {
            if (i > 0) {
                ofs << ", ";
                if (i % 4 == 0) ofs << "\n        ";
            }
            ofs << fmt(Tcl[i]);
        }
        ofs << "]\n";

        // Write cam_0 block
        ofs << "cam_0: \n";
        ofs << "   image_width: " << image_width << "\n";
        ofs << "   image_height: " << image_height << "\n";
        ofs << "   k2: " << fmt(k2) << "\n";
        ofs << "   k3: " << fmt(k3) << "\n";
        ofs << "   k4: " << fmt(k4) << "\n";
        ofs << "   k5: " << fmt(k5) << "\n";
        ofs << "   k6: " << fmt(k6) << "\n";
        ofs << "   k7: " << fmt(k7) << "\n";
        ofs << "   p1: " << fmt(p1) << "\n";
        ofs << "   p2: " << fmt(p2) << "\n";
        ofs << "   A11: " << fmt(A11) << "\n";
        ofs << "   A12: " << fmt(A12) << "\n";
        ofs << "   A22: " << fmt(A22) << "\n";
        ofs << "   u0: " << fmt(u0) << "\n";
        ofs << "   v0: " << fmt(v0) << "\n";

        ofs.flush();

        #ifdef ROS2
            RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Wrote cam_in_ex.txt to: %s", out_path.string().c_str());
        #else
            ROS_INFO("Wrote cam_in_ex.txt to: %s", out_path.string().c_str());
        #endif
        return true;
    } catch (const std::exception& e) {
        #ifdef ROS2
            RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Failed to convert calib.yaml: %s", e.what());
        #else
            ROS_ERROR("Failed to convert calib.yaml: %s", e.what());
        #endif
        return false;
    }
}

// Get package share path
std::string get_package_share_path(const std::string& package_name) {
#ifdef ROS2
    try {
        return ament_index_cpp::get_package_share_directory(package_name);
    } catch (const std::exception& e) {
        throw std::runtime_error("Package not found: " + std::string(e.what()));
    }
#else
    try {
        return ros::package::getPath(package_name);
    } catch (const ros::InvalidNameException& e) {
        throw std::runtime_error("Package not found: " + std::string(e.what()));
    }
#endif
}

std::string get_package_source_directory() {
    // 获取当前源文件的绝对路径
    std::filesystem::path current_file(__FILE__);
    
    // 回溯到包根目录（包含package.xml的目录）
    auto path = current_file.parent_path();
    while (!path.empty() && !std::filesystem::exists(path / "package.xml")) {
        path = path.parent_path();
    }
    
    if (path.empty()) {
        throw std::runtime_error("Failed to locate package root directory");
    }
    
    return path.string();
}


std::string get_package_path(const std::string& package_name) {
    #ifdef ROS2
        return ament_index_cpp::get_package_share_directory(package_name);
    #else
        return ros::package::getPath(package_name);
    #endif
}

// Clear all queues
void clear_all_queues() {
    // Reset state variables
    g_latest_bgr.reset();
    g_latest_rgb_timestamp = 0;
    g_has_rgb = false;
}

// Lidar data callback
static void lidar_data_callback(const lidar_data_t *data, void *user_data)
{
    // If device is not connected, ignore all data
    if (!deviceConnected) {
        return;
    }
    
    device_handle *dev_handle = static_cast<device_handle *>(user_data);
    if(!dev_handle || !data) {
        printf("Invalid device handle or data.\n");
        return;
    }
    imu_convert_data_t *imudata = nullptr;
    lidar_device_status_t *dev_info_data;
    
    pid_t self = getpid();
    std::vector<pid_t> pids;

    double total_mb = 0.0;

    switch(data->type) {
        case LIDAR_DT_NONE:
            printf("empty lidar data type: %x\n", data->type);
            break;
        case LIDAR_DT_RAW_RGB:
            if (g_sendrgb) {
                g_ros_object->publishRgb((capture_Image_List_t *)&data->stream);
            }
            update_count(&rgb_rx_fps);
            break;
        case LIDAR_DT_RAW_IMU:
            if (g_sendimu) {
                imudata = (imu_convert_data_t *)data->stream.imageList[0].pAddr;
                g_ros_object->publishImu(imudata);
            }
            update_count(&imu_rx_fps);
            break;
        case LIDAR_DT_RAW_DTOF:
            if (g_senddtof ) {
                g_ros_object->publishIntensityCloud((capture_Image_List_t *)&data->stream, 1);
            }
            if (g_pub_intensity_gray) {
                g_ros_object->publishGrayUInt8((capture_Image_List_t *)&data->stream, 2);
            }
            update_count(&dtof_rx_fps);
            break;
        case LIDAR_DT_SLAM_CLOUD:
            if (g_sendcloudslam) {
                g_ros_object->publishPC2XYZRGBA((capture_Image_List_t *)&data->stream, 0);
            }
            update_count(&slam_cloud_rx_fps);
            break;
        case LIDAR_DT_SLAM_ODOMETRY:
            if (g_sendodom) {
                g_ros_object->publishOdometry((capture_Image_List_t *)&data->stream, false, g_show_path, g_show_camerapose);
            }
            update_count(&slam_odom_rx_fps);
            break;
        case LIDAR_DT_DEV_STATUS:
            dev_info_data = (lidar_device_status_t *)data->stream.imageList[0].pAddr;

            pids.push_back(self);
            collect_children(self, pids);
            for (pid_t p : pids) {
                total_mb += read_pss_mb(p); // read_rss_mb(p);
            }

            if (g_devstatus_log) {
                if (dev_status_csv_file) {
                    // append the data row
                    int rc = 0;
                    rc = std::fprintf(dev_status_csv_file, "%d,%d,%d,%d,%d,%d,", // %.0f
                                            // get_uptime_seconds(),
                                            0,
                                            dev_info_data->soc_thermal.package_temp,
                                            dev_info_data->soc_thermal.cpu_temp,
                                            dev_info_data->soc_thermal.center_temp,
                                            dev_info_data->soc_thermal.gpu_temp,
                                            dev_info_data->soc_thermal.npu_temp);
                    if (rc < 0) { 
                        printf("Failed to write to dev_status_csv_file\n");
                    }

                    rc = std::fprintf(dev_status_csv_file, "%d,%d,", 
                        dev_info_data->dtof_sensor.tx_temp,
                        dev_info_data->dtof_sensor.rx_temp);
                    if (rc < 0) { 
                        printf("Failed to write to dev_status_csv_file\n");
                    }

                    for (int i = 0; i < 8; i++) {
                        rc = std::fprintf(dev_status_csv_file, "%d,", dev_info_data->cpu_use_rate[i]);
                    }
                    rc = std::fprintf(dev_status_csv_file, "%d,", dev_info_data->ram_use_rate);

                    rc = std::fprintf(dev_status_csv_file, "%.2f,%.2f,%.2f,", 
                        ((float)dev_info_data->rgb_sensor.configured_odr)/1000,
                        ((float)dev_info_data->rgb_sensor.tx_odr)/1000,
                        cal_fps(&rgb_rx_fps, "rgb_rx")
                    );
                    if (rc < 0) { 
                        printf("Failed to write to dev_status_csv_file\n");
                    }

                    rc = std::fprintf(dev_status_csv_file, "%.2f,%.2f,%.2f,",
                        ((float)dev_info_data->dtof_sensor.configured_odr)/1000,
                        ((float)dev_info_data->dtof_sensor.tx_odr)/1000,
                        cal_fps(&dtof_rx_fps, "dtof_rx")
                    );
                    if (rc < 0) { 
                        printf("Failed to write to dev_status_csv_file\n");
                    }

                    rc = std::fprintf(dev_status_csv_file, "%.2f,%.2f,%.2f,",
                        ((float)dev_info_data->imu_sensor.configured_odr)/1000,
                        ((float)dev_info_data->imu_sensor.tx_odr)/1000,
                        cal_fps(&imu_rx_fps, "imu_rx")
                    );
                    if (rc < 0) { 
                        printf("Failed to write to dev_status_csv_file\n");
                    }

                    rc = std::fprintf(dev_status_csv_file, "%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,", 
                        ((float)dev_info_data->slam_cloud_tx_odr)/1000,
                        cal_fps(&slam_cloud_rx_fps, "slam_cloud_rx"),
                        ((float)dev_info_data->slam_odom_tx_odr)/1000,
                        cal_fps(&slam_odom_rx_fps, "slam_odom_rx"),
                        ((float)dev_info_data->slam_odom_highfreq_tx_odr)/1000,
                        cal_fps(&slam_odom_highfreq_rx_fps, "slam_odom_highfreq_rx"));
                    if (rc < 0) { 
                        printf("Failed to write to dev_status_csv_file\n");
                    }
                                   
                    rc = std::fprintf(dev_status_csv_file, "%.2f\n", total_mb);
                    if (rc < 0) { 
                        printf("Failed to write to dev_status_csv_file\n");
                    }

                    std::fflush(dev_status_csv_file);
                }
            }
            if (g_show_fps) {
                printf("\n [dev_info] [soc_thermal]: package_temp:%dC \n", 
                    dev_info_data->soc_thermal.package_temp);
                printf("\n [dev_info] [soc_thermal]: cpu:%dC \n",
                    dev_info_data->soc_thermal.cpu_temp);                
                printf("\n [dev_info] [soc_thermal]: center_temp:%dC \n",
                    dev_info_data->soc_thermal.center_temp);
                printf("\n [dev_info] [soc_thermal]: gpu_temp:%dC \n",
                    dev_info_data->soc_thermal.gpu_temp);
                printf("\n [dev_info] [soc_thermal]: npu_temp:%dC \n",
                    dev_info_data->soc_thermal.npu_temp);

                for ( int i=0;i<8;i++) 
                {
                    printf("\n [dev_info] [cpu]: cpu_use_rate-core[%d]:%d%% \n",
                                                    i,
                                                    dev_info_data->cpu_use_rate[i]);

                }
                printf("\n [dev_info] [cpu]: ram_use_rate:%d%% \n",
                    dev_info_data->ram_use_rate);

                printf("\n [dev_info] [rgb]: configured_odr: %.2f HZ, tx_odr: %.2f HZ, rx_odr: %.2f HZ \n", 
                    ((float)dev_info_data->rgb_sensor.configured_odr)/1000,
                    ((float)dev_info_data->rgb_sensor.tx_odr)/1000,
                    cal_fps(&rgb_rx_fps, "rgb_rx")
                );

                printf("\n [dev_info] [dtof]: configured_odr: %.2f HZ, tx_odr: %.2f HZ, rx_odr: %.2f HZ \n", 
                    ((float)dev_info_data->dtof_sensor.configured_odr)/1000,
                    ((float)dev_info_data->dtof_sensor.tx_odr)/1000,
                    cal_fps(&dtof_rx_fps, "dtof_rx")
                );
                printf("\n [dev_info] [dtof]: subframe_odr: %.2f \n", 
                    ((float)dev_info_data->dtof_sensor.subframe_odr)/1000);
                printf("\n [dev_info] [dtof]: txtemp:%dC, rxtemp:%dC \n", dev_info_data->dtof_sensor.tx_temp, dev_info_data->dtof_sensor.rx_temp);

                printf("\n [dev_info] [imu]: configured_odr: %.2f HZ, tx_odr: %.2f HZ, rx_odr: %.2f HZ\n",
                    ((float) dev_info_data->imu_sensor.configured_odr)/1000,
                    ((float) dev_info_data->imu_sensor.tx_odr)/1000,
                    cal_fps(&imu_rx_fps, "imu_rx")
                );

                printf("\n [dev_info] [slam]: slam_cloud_tx_odr: %.2f HZ, rx_odr: %.2f HZ \n",
                    ((float)dev_info_data->slam_cloud_tx_odr)/1000,
                    cal_fps(&slam_cloud_rx_fps, "slam_cloud_rx")
                );

                printf("\n [dev_info] [slam]: slam_odom_tx_odr: %.2f HZ, rx_odr: %.2f HZ \n",
                    ((float)dev_info_data->slam_odom_tx_odr)/1000,
                    cal_fps(&slam_odom_rx_fps, "slam_odom_rx")
                );

                printf("\n [dev_info] [slam]: slam_odom_highfreq_tx_odr: %.2f HZ, rx_odr: %.2f HZ \n",
                    ((float)dev_info_data->slam_odom_highfreq_tx_odr)/1000,
                    cal_fps(&slam_odom_highfreq_rx_fps, "slam_odom_highfreq_rx")
                );

                #ifdef ROS2
                    RCLCPP_INFO(rclcpp::get_logger("dev_info"), "Total RAM (parent + children): %.2f MB", total_mb);
                #else
                    ROS_INFO("Total RAM (parent + children): %.2f MB", total_mb);
                #endif

                printf("\n------------------------------------------\n");
            }
            break;
            case LIDAR_DT_SLAM_ODOMETRY_HIGHFREQ:
            {
                if (g_sendodom) {
                    g_ros_object->publishOdometry((capture_Image_List_t *)&data->stream, true, false, false);
                }
                update_count(&slam_odom_highfreq_rx_fps);
            }
            break;
        default:
            printf("Unknown lidar data type: %x", data->type);
            return;
    }
}

static void lidar_device_callback(const lidar_device_info_t* device, bool attach)
{
    int type = LIDAR_MODE_SLAM;
    // int type = LIDAR_MODE_RAW;
    static std::chrono::steady_clock::time_point software_connect_start; 
    static bool software_connect_timing = false; 
    
    if(attach == true) {
        #ifdef ROS2
            RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Hardware connected, starting software connection...");
        #else
            ROS_INFO("Hardware connected, starting software connection...");
        #endif
        if (!isUsb3OrHigher(TARGET_VENDOR, TARGET_PRODUCT)) {
            #ifdef ROS2
                RCLCPP_FATAL(rclcpp::get_logger("device_cb"), 
                            "Device connected to USB 2.0 port. This device requires USB 3.0 or higher. Exiting program.");
            #else
                ROS_FATAL("Device connected to USB 2.0 port. This device requires USB 3.0 or higher. Exiting program.");
            #endif

            g_usb_version_error = true;
            system("pkill -f rviz");
            exit(1);
            return;
        }

        software_connect_start = std::chrono::steady_clock::now();
        software_connect_timing = true;
        
        if (odinDevice) {
            odinDevice = nullptr;
        }
        
        if (lidar_create_device(const_cast<lidar_device_info_t*>(device), &odinDevice)) {
            #ifdef ROS2
                RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Create device failed");
            #else
                ROS_ERROR("Create device failed");
            #endif
            return;
        }
        
        if (lidar_open_device(odinDevice)) {
            #ifdef ROS2
                RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Open device failed");
            #else
                ROS_ERROR("Open device failed");
            #endif
            lidar_destory_device(odinDevice);
            odinDevice = nullptr;
            return;
        }
        
	const std::string package_name = "odin_ros_driver";
	std::string config_dir = "";
	#ifdef ROS2
	    char* ros_workspace = std::getenv("COLCON_PREFIX_PATH");
	    if (ros_workspace) {
		std::string workspace_path(ros_workspace);
		size_t pos = workspace_path.find("/install");
		if (pos != std::string::npos) {
		    config_dir = workspace_path.substr(0, pos) + "/src/odin_ros_driver/config";
		} else {
		    config_dir = ament_index_cpp::get_package_share_directory(package_name) + "/config";
		}
	    } else {
		config_dir = ament_index_cpp::get_package_share_directory(package_name) + "/config";
	    }
	#else
	    config_dir = ros::package::getPath(package_name) + "/config";
	#endif
   		 std::cout << "config_dir"<< config_dir <<std::endl;
        #ifdef ROS2
            RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Calibration files will be saved to: %s", config_dir.c_str());
        #else
            ROS_INFO("Calibration files will be saved to: %s", config_dir.c_str());
        #endif
        
        auto now = std::chrono::steady_clock::now();
        auto elapsed = std::chrono::duration_cast<std::chrono::seconds>(now - software_connect_start);
        if (elapsed.count() >= 60) {
            #ifdef ROS2
                RCLCPP_FATAL(rclcpp::get_logger("device_cb"), 
                            "Software connection timed out after 60 seconds. Exiting program.");
            #else
                ROS_FATAL("Software connection timed out after 60 seconds. Exiting program.");
            #endif
            
            if (odinDevice) {
                lidar_close_device(odinDevice);
                lidar_destory_device(odinDevice);
                odinDevice = nullptr;
            }
            
            g_connection_timeout = true;
            return;
        }
        
        if(lidar_get_version(odinDevice)) {
            #ifdef ROS2
                RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Failed to get device firmware version, potential incompatible, please upgrade device firmware and retry.");
            #else
                ROS_ERROR("Failed to get device firmware version, potential incompatible, please upgrade device firmware and retry.");
            #endif
            system("pkill -f rviz");
            exit(1);
        }
        else {
            printf("ros_driver_version:%s\n", ros_driver_version);
            printf("get version success.\n");
        }
        
        if (lidar_get_calib_file(odinDevice, config_dir.c_str())) {
            #ifdef ROS2
                RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Failed to get calibration file");
            #else
                ROS_ERROR("Failed to get calibration file");
            #endif
            lidar_close_device(odinDevice);
            lidar_destory_device(odinDevice);
            odinDevice = nullptr;
            return;
        }
        
        #ifdef ROS2
            RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Successfully retrieved calibration files");
        #else
            ROS_INFO("Successfully retrieved calibration files");
        #endif
        
        std::string calib_config = config_dir + "/calib.yaml";
        calib_file_ = calib_config;
        if (std::filesystem::exists(calib_config)) {
            g_renderer = std::make_shared<rawCloudRender>();
            if (g_renderer->init(calib_config)) {
            #ifdef ROS2
                    RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Point cloud renderer initialized");
            #else
                    ROS_INFO("Point cloud renderer initialized");
            #endif
            } else {
            #ifdef ROS2
                    RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Failed to initialize point cloud renderer");
            #else
                    ROS_ERROR("Failed to initialize point cloud renderer");
            #endif
                }
        } else {
            #ifdef ROS2
                    RCLCPP_WARN(rclcpp::get_logger("device_cb"), "Renderer config file not found: %s", calib_config.c_str());
            #else
                    ROS_WARN("Renderer config file not found: %s", calib_config.c_str());
            #endif
        }
        
        if (lidar_set_mode(odinDevice, type)) {
            #ifdef ROS2
                RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Set mode failed");
            #else
                ROS_ERROR("Set mode failed");
            #endif
            lidar_close_device(odinDevice);
            lidar_destory_device(odinDevice);
            odinDevice = nullptr;
            return;
        }
 
        lidar_data_callback_info_t data_callback_info;
        data_callback_info.data_callback = lidar_data_callback;
        data_callback_info.user_data = &odinDevice;

        if (lidar_register_stream_callback(odinDevice, data_callback_info)) {
            #ifdef ROS2
                RCLCPP_ERROR(rclcpp::get_logger("device"), "Register callback failed");
            #else
                ROS_ERROR("Register callback failed");
            #endif
            lidar_close_device(odinDevice);
            lidar_destory_device(odinDevice);
            odinDevice = nullptr;
            return;
        }
        
        auto con_time = std::chrono::system_clock::now();
        std::time_t t = std::chrono::system_clock::to_time_t(con_time);
        std::tm tm{};
        #ifdef _WIN32
            localtime_s(&tm, &t);
        #else
            localtime_r(&t, &tm);
        #endif
        char buf[32];
        std::strftime(buf, sizeof(buf), "%Y%m%d_%H%M%S", &tm);
        std::string folder_name = std::string("Conn_") + std::string(buf);
        std::filesystem::path per_con_log_root_dir_ = log_root_dir_ / folder_name;
        std::filesystem::create_directories(per_con_log_root_dir_);
        std::string dev_status_csv_file_path_ = per_con_log_root_dir_ / "dev_status.csv";

        if (dev_status_csv_file) {
            std::fflush(dev_status_csv_file);
            fclose(dev_status_csv_file);
            dev_status_csv_file = nullptr;
        }

        // Open the file in append mode
        dev_status_csv_file = fopen(dev_status_csv_file_path_.c_str(), "a");
        if (!dev_status_csv_file) {
            #ifdef ROS2
                RCLCPP_ERROR(rclcpp::get_logger("init"), "Failed to open dev_status CSV file");
            #else
                ROS_ERROR("Failed to open dev_status CSV file");
            #endif
        } else {
            const char* header =
            "uptime_seconds,package_temp,cpu_temp,center_temp,gpu_temp,npu_temp,dtof_tx_temp,dtof_rx_temp,"
            "cpu0,cpu1,cpu2,cpu3,cpu4,cpu5,cpu6,cpu7,ram_use(%),"
            "rgb_configured_odr,rgb_tx_odr,rgb_rx_odr,dtof_configured_odr,dtof_tx_odr,dtof_rx_odr,imu_configured_odr,imu_tx_odr,imu_rx_odr,"
            "slam_cloud_tx_odr,slam_cloud_rx_odr,slam_odom_tx_odr,slam_odom_rx_odr,slam_odom_highfreq_tx_odr,slam_odom_highfreq_rx_odr,"
            "host_ram_use(mb)\n";
            fprintf(dev_status_csv_file, "%s", header);
            std::fflush(dev_status_csv_file);
        }

        uint32_t dtof_subframe_odr = 0;
        if (lidar_start_stream(odinDevice, type, dtof_subframe_odr)) {
            #ifdef ROS2
                RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Start stream failed");
            #else
                ROS_ERROR("Start stream failed");
            #endif
            lidar_close_device(odinDevice);
            lidar_destory_device(odinDevice);
            odinDevice = nullptr;
            return;
        }
        
        if (dtof_subframe_odr > 0) {
            g_rosNodeControlImpl.setDtofSubframeODR(dtof_subframe_odr);
        }
        
        if (g_sendrgb) {
            lidar_activate_stream_type(odinDevice, LIDAR_DT_RAW_RGB);
        }
        if (g_sendimu) {
            lidar_activate_stream_type(odinDevice, LIDAR_DT_RAW_IMU);
        }
        if (g_sendodom) {
            lidar_activate_stream_type(odinDevice, LIDAR_DT_SLAM_ODOMETRY);
        }
        if (g_senddtof) {
            lidar_activate_stream_type(odinDevice, LIDAR_DT_RAW_DTOF);
        }
        if (g_sendcloudslam) {
            lidar_activate_stream_type(odinDevice, LIDAR_DT_SLAM_CLOUD);
        }
        
        software_connect_timing = false;
        deviceConnected = true;
        deviceDisconnected = false; 
        
        bool load_status = g_ros_object->loadCameraParams(calib_config);
        if (g_sendrgb_undistort &&  load_status == 0) {
            g_ros_object->buildUndistortMap();
        }

        #ifdef ROS2
            RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Software connection successful in %ld seconds", 
                       std::chrono::duration_cast<std::chrono::seconds>(std::chrono::steady_clock::now() - software_connect_start).count());
            RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Device ready and streams activated");
        #else
            ROS_INFO("Software connection successful in %ld seconds", 
                    std::chrono::duration_cast<std::chrono::seconds>(std::chrono::steady_clock::now() - software_connect_start).count());
            ROS_INFO("Device ready and streams activated");
        #endif
    } else {
        #ifdef ROS2
            RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Device detaching...");
        #else
            ROS_INFO("Device detaching...");
        #endif

        deviceConnected = false;
        deviceDisconnected = true;

        clear_all_queues();

        if (dev_status_csv_file) {
            std::fflush(dev_status_csv_file);
            fclose(dev_status_csv_file);
            dev_status_csv_file = nullptr;
        }

        #ifdef ROS2
            RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Waiting for device reconnection...");
        #else
            ROS_INFO("Waiting for device reconnection...");
        #endif
    }
}

int main(int argc, char *argv[])
{
#ifdef ROS2
    rclcpp::init(argc, argv);
    auto node = std::make_shared<rclcpp::Node>("lydros_node");
    g_ros_object = std::make_shared<MultiSensorPublisher>(node);
#else
    ros::init(argc, argv, "lydros_node");
    ros::NodeHandle nh;
    g_ros_object = new MultiSensorPublisher(nh);
#endif

    try {
    #ifdef ROS2
        std::string package_path = get_package_source_directory();
        std::cout << "package_path: " << package_path << std::endl;
    #else
    	std::string package_path = get_package_share_path("odin_ros_driver");
    #endif
        std::string config_file = package_path + "/config/control_command.yaml";   
      
        odin_ros_driver::YamlParser parser(config_file);
        if (!parser.loadConfig()) {
            #ifdef ROS2
                RCLCPP_ERROR(node->get_logger(), "Failed to load config file: %s", config_file.c_str());
            #else
                ROS_ERROR("Failed to load config file: %s", config_file.c_str());
            #endif
            return -1;
        }

        auto keys = parser.getRegisterKeys();
        parser.printConfig();

        auto get_key_value = [&](const std::string& key, int default_value) -> int {
            auto it = keys.find(key);
            return it != keys.end() ? it->second : default_value;
        };

        g_sendrgb       = get_key_value("sendrgb", 1);
        g_sendimu       = get_key_value("sendimu", 1);
        g_senddtof      = get_key_value("senddtof", 1);
        g_sendodom      = get_key_value("sendodom", 1);
        g_sendcloudslam = get_key_value("sendcloudslam", 0);
        g_sendcloudrender = get_key_value("sendcloudrender", 1);
        g_sendrgb_compressed = get_key_value("sendrgbcompressed", 1);
        g_sendrgb_undistort = get_key_value("sendrgbundistort", 0);
        g_record_data = get_key_value("recorddata", 0);
        g_show_fps = get_key_value("showfps", 0);
        g_devstatus_log = get_key_value("devstatuslog", 0);
        g_pub_intensity_gray = get_key_value("pubintensitygray", 0);
        g_show_path = get_key_value("showpath", 0);
        g_show_camerapose = get_key_value("showcamerapose", 0);
        g_log_level = get_key_value("log_devel", LOG_LEVEL_INFO);
        lidar_log_set_level(LIDAR_LOG_INFO);

        const std::string package_name = "odin_ros_driver";
        std::string data_dir = "";
        std::string log_dir = "";
        #ifdef ROS2
            char* ros_workspace = std::getenv("COLCON_PREFIX_PATH");
            if (ros_workspace) {
            std::string workspace_path(ros_workspace);
            size_t pos = workspace_path.find("/install");
            if (pos != std::string::npos) {
                data_dir = workspace_path.substr(0, pos) + "/src/odin_ros_driver/recorddata";
                log_dir = workspace_path.substr(0, pos) + "/src/odin_ros_driver/log";
            } else {
                data_dir = ament_index_cpp::get_package_share_directory(package_name) + "/recorddata";
                log_dir = ament_index_cpp::get_package_share_directory(package_name) + "/log";
            }
            } else {
            data_dir = ament_index_cpp::get_package_share_directory(package_name) + "/recorddata";
            log_dir = ament_index_cpp::get_package_share_directory(package_name) + "/log";
            }
        #else
            data_dir = ros::package::getPath(package_name) + "/recorddata";
            log_dir = ros::package::getPath(package_name) + "/log";
        #endif

        if (g_record_data) {
            g_ros_object->initialize_data_logger(data_dir);
        }

        if (g_devstatus_log) {
            auto now = std::chrono::system_clock::now();
            std::time_t t = std::chrono::system_clock::to_time_t(now);
            std::tm tm{};
            #ifdef _WIN32
                localtime_s(&tm, &t);
            #else
                localtime_r(&t, &tm);
            #endif
            char buf[32];
            std::strftime(buf, sizeof(buf), "%Y%m%d_%H%M%S", &tm);
            std::string folder_name = std::string("Driver_") + std::string(buf);
            log_root_dir_ = std::filesystem::path(log_dir) / folder_name;
            std::filesystem::create_directories(log_root_dir_);
        }

        if (lidar_system_init(lidar_device_callback)) {
            #ifdef ROS2
                RCLCPP_ERROR(node->get_logger(), "Lidar system init failed");
            #else
                ROS_ERROR("Lidar system init failed");
            #endif
            return -1;
        }
        

        bool usbPresent = false;
        bool usbVersionChecked = false; 
        while (!deviceConnected) {
            #ifdef ROS2
            if (!rclcpp::ok()) {
                break;
            }
            #else
            if (!ros::ok())     // ROS1 shutdown check
            {
                break;
            }
            #endif

            usbPresent = isUsbDevicePresent(TARGET_VENDOR, TARGET_PRODUCT); 
            if (usbPresent) { 
                if (!usbVersionChecked) {
                    usbVersionChecked = true;
                    
                    if (!isUsb3OrHigher(TARGET_VENDOR, TARGET_PRODUCT)) {
                        #ifdef ROS2
                            RCLCPP_FATAL(node->get_logger(), 
                                        "Device connected to USB 2.0 port. This device requires USB 3.0 or higher. Exiting program.Please use USB 3.0 and restart the device.");
                        #else
                            ROS_FATAL("Device connected to USB 2.0 port. This device requires USB 3.0 or higher. Exiting program .Please use USB 3.0 and restart the device.");
                        #endif
                        
                        lidar_system_deinit();
                        return 1;
                    }
                }
            }
            
            #ifdef ROS2
                std::this_thread::sleep_for(std::chrono::seconds(1));
            #else
                ros::Duration(1.0).sleep();
            #endif
        }
    } catch (const std::exception& e) {
        #ifdef ROS2
                RCLCPP_ERROR(node->get_logger(), "Exception: %s", e.what());
        #else
                ROS_ERROR("Exception: %s", e.what());
        #endif
                lidar_system_deinit();
                return -1;
    }

    if (!deviceConnected) {
        #ifdef ROS2
        if (g_ros_object) {
            g_ros_object.reset();   // destroys all publishers/subscribers
        }
        node.reset();              // destroy the node first
        rclcpp::shutdown();
        #else
        if (g_ros_object) {
            delete g_ros_object;
            g_ros_object = nullptr;
        }
        ros::shutdown();
        #endif
        return 1;
    }

    bool disconnect_msg_printed = false;
    #ifdef ROS2
        // Create 10Hz Rate object
        rclcpp::Rate rate(10);
        
        while (rclcpp::ok()) {
            rclcpp::spin_some(node);
            // Check device disconnection status
            if (deviceDisconnected.load()) {
                if (!disconnect_msg_printed) {
                    RCLCPP_INFO(node->get_logger(), "Device disconnected, waiting for reconnection...");
                    disconnect_msg_printed = true;
                }
                
                // Wait 0.1 seconds
                rate.sleep();
                continue;  // Skip rest of this loop iteration
            }
            
            // Data processing when device is connected
            if (g_sendcloudrender) {
                g_ros_object->try_process_pair();  
            }
            disconnect_msg_printed = false;

            // Wait 0.1 seconds
            rate.sleep();
        }
        rclcpp::shutdown();
    #else
        // Create 10Hz Rate object
        ros::Rate rate(10);
        while (ros::ok()) {
            ros::spinOnce();

            // Check device disconnection status
            if (deviceDisconnected.load()) {
                if (!disconnect_msg_printed) {
                    ROS_INFO("Device disconnected, waiting for reconnection...");
                    disconnect_msg_printed = true;
                }
                
                // Wait 0.1 seconds
                rate.sleep();
                continue;  // Skip rest of this loop iteration
            }
            
            // Data processing when device is connected
            if (g_sendcloudrender) {
                g_ros_object->try_process_pair();  
            }
            disconnect_msg_printed = false;

            // Wait 0.1 seconds
            rate.sleep();
        }
        ros::shutdown();
    #endif

    // Cleanup on normal program exit
    if (odinDevice) {
        // Convert calib.yaml to cam_in_ex.txt at program end
        if (g_ros_object) {
            const std::filesystem::path out_path = g_ros_object->get_root_dir() / "image" / "cam_in_ex.txt";
            (void)convert_calib_to_cam_in_ex(calib_file_, out_path);
        }
        #ifdef ROS2
            RCLCPP_INFO(rclcpp::get_logger("device_cb"), "pose_index: %d", g_ros_object->get_pose_index());
            RCLCPP_INFO(rclcpp::get_logger("device_cb"), "cloud_index: %d", g_ros_object->get_cloud_index());
            RCLCPP_INFO(rclcpp::get_logger("device_cb"), "image_index: %d", g_ros_object->get_image_index());
        #else
            ROS_INFO("pose_index: %d", g_ros_object->get_pose_index());
            ROS_INFO("cloud_index: %d", g_ros_object->get_cloud_index());
            ROS_INFO("image_index: %d", g_ros_object->get_image_index());
        #endif
        // Perform cleanup on normal exit
        // if(lidar_stop_stream(odinDevice, LIDAR_MODE_SLAM))
        // {
        //     #ifdef ROS2
        //         RCLCPP_INFO(rclcpp::get_logger("device_cb"), "lidar_stop_stream failed");
        //     #else
        //         ROS_INFO("lidar_stop_stream failed");
        //     #endif
        // }
        
        if(lidar_unregister_stream_callback(odinDevice))
        {
            #ifdef ROS2
                RCLCPP_INFO(rclcpp::get_logger("device_cb"), "lidar_unregister_stream_callback failed");
            #else
                ROS_INFO("lidar_unregister_stream_callback failed");
            #endif
        }
        // lidar_close_device(odinDevice);
        // lidar_destory_device(odinDevice);

        if (dev_status_csv_file) {
            std::fflush(dev_status_csv_file);
            fclose(dev_status_csv_file);
            dev_status_csv_file = nullptr;
        }
    }
    // lidar_system_deinit();



    return 0;
}