/*
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.
*/

#pragma once

#ifdef ROS2
    #include <rclcpp/rclcpp.hpp>
    #include <geometry_msgs/msg/point_stamped.hpp>
    #include <sensor_msgs/msg/point_cloud2.hpp>
    #include <sensor_msgs/msg/image.hpp>
    #include <sensor_msgs/msg/compressed_image.hpp>
    #include <nav_msgs/msg/odometry.hpp>
    #include <std_msgs/msg/float32_multi_array.hpp>
    #include <std_msgs/msg/int32.hpp>
    #include <cv_bridge/cv_bridge.h>
    #include <message_filters/subscriber.h>
    #include <message_filters/sync_policies/approximate_time.h>
    #include "odin_ros_driver/msg/target_observation.hpp"
#else
    #include <ros/ros.h>
    #include <sensor_msgs/PointCloud2.h>
    #include <sensor_msgs/Image.h>
    #include <sensor_msgs/CompressedImage.h>
    #include <nav_msgs/Odometry.h>
    #include <cv_bridge/cv_bridge.h>
    #include <message_filters/subscriber.h>
    #include <message_filters/sync_policies/approximate_time.h>
#endif

#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>

#include "cloud_reprojector.hpp"

#include <string>
#include <memory>

#ifdef ODIN_ROS_DRIVER_HAS_TARGET_OBSERVATION
#include "target_observation_processing.hpp"
#endif

#ifdef ROS2
class CloudReprojectionRosNode : public rclcpp::Node
{
public:
    CloudReprojectionRosNode(const rclcpp::NodeOptions& options = rclcpp::NodeOptions());

private:
    using PointCloud2 = sensor_msgs::msg::PointCloud2;
    using Odometry = nav_msgs::msg::Odometry;
    using Image = sensor_msgs::msg::Image;
    using CompressedImage = sensor_msgs::msg::CompressedImage;

    std::string cloud_slam_topic_;
    std::string odometry_topic_;
    std::string wiwc_topic_;
    std::string camera_image_topic_;
    std::string sync_topic_prefix_;
    std::string combined_compressed_topic_;
    int combined_jpeg_quality_;
    int overlay_jpeg_quality_;
    bool publish_combined_compressed_;
    bool send_overlay_;

    message_filters::Subscriber<PointCloud2> cloud_sub_;
    message_filters::Subscriber<Odometry> odom_sub_;
    message_filters::Subscriber<Odometry> wiwc_sub_;
    message_filters::Subscriber<Image> image_sub_;

    typedef message_filters::sync_policies::ApproximateTime<PointCloud2, Odometry, Odometry, Image> MySyncPolicy;
    typedef message_filters::Synchronizer<MySyncPolicy> Sync;
    std::shared_ptr<Sync> sync_;

    std::string sync_cloud_topic_;
    std::string sync_cloud_slam_topic_;
    std::string sync_odom_topic_;
    std::string sync_wiwc_topic_;
    std::string sync_image_topic_;
    std::string sync_overlay_image_topic_;
    std::string sync_detection_debug_image_topic_;
    std::string sync_target_observation_topic_;
    std::string sync_target_pos_cam_topic_;
    std::string sync_target_pos_world_topic_;

    rclcpp::Publisher<PointCloud2>::SharedPtr sync_cloud_pub_;
    rclcpp::Publisher<PointCloud2>::SharedPtr sync_cloud_slam_pub_;
    rclcpp::Publisher<Odometry>::SharedPtr sync_odom_pub_;
    rclcpp::Publisher<Odometry>::SharedPtr sync_wiwc_pub_;
    rclcpp::Publisher<Image>::SharedPtr sync_image_pub_;

    rclcpp::Publisher<CompressedImage>::SharedPtr overlay_compressed_pub_;  // optional if send_overlay_
    rclcpp::Publisher<CompressedImage>::SharedPtr detection_debug_compressed_pub_;  // debug detections/tracks
    rclcpp::Publisher<CompressedImage>::SharedPtr combined_pub_;  // optional if publish_combined_compressed_
    rclcpp::Publisher<odin_ros_driver::msg::TargetObservation>::SharedPtr target_observation_pub_;
    rclcpp::Publisher<geometry_msgs::msg::PointStamped>::SharedPtr target_pos_cam_pub_;
    rclcpp::Publisher<geometry_msgs::msg::PointStamped>::SharedPtr target_pos_world_pub_;

    std::unique_ptr<CloudReprojector> reprojector_;
#ifdef ODIN_ROS_DRIVER_HAS_TARGET_OBSERVATION
    std::unique_ptr<odin_ros_driver::TargetObservationProcessor> target_observation_processor_;
    bool enable_target_observation_ = false;
    bool debug_target_observation_ = false;
#endif

    void loadParameters();
    void syncCallback(const PointCloud2::ConstSharedPtr& cloud_msg,
                      const Odometry::ConstSharedPtr& odom_msg,
                      const Odometry::ConstSharedPtr& wiwc_msg,
                      const Image::ConstSharedPtr& image_msg);
};
#else
class CloudReprojectionRosNode
{
public:
    CloudReprojectionRosNode(ros::NodeHandle& nh, ros::NodeHandle& pnh);

private:
    ros::NodeHandle nh_, pnh_;

    std::string cloud_slam_topic_;
    std::string odometry_topic_;
    std::string wiwc_topic_;
    std::string camera_image_topic_;
    std::string sync_topic_prefix_;
    std::string combined_compressed_topic_;
    int combined_jpeg_quality_;
    int overlay_jpeg_quality_;
    bool publish_combined_compressed_;
    bool send_overlay_;

    std::string sync_cloud_topic_;
    std::string sync_cloud_slam_topic_;
    std::string sync_odom_topic_;
    std::string sync_wiwc_topic_;
    std::string sync_image_topic_;
    std::string sync_overlay_image_topic_;

    message_filters::Subscriber<sensor_msgs::PointCloud2> cloud_sub_;
    message_filters::Subscriber<nav_msgs::Odometry> odom_sub_;
    message_filters::Subscriber<nav_msgs::Odometry> wiwc_sub_;
    message_filters::Subscriber<sensor_msgs::Image> image_sub_;

    typedef message_filters::sync_policies::ApproximateTime<
        sensor_msgs::PointCloud2, nav_msgs::Odometry, nav_msgs::Odometry, sensor_msgs::Image> MySyncPolicy;
    typedef message_filters::Synchronizer<MySyncPolicy> Sync;
    std::shared_ptr<Sync> sync_;

    ros::Publisher sync_cloud_pub_;
    ros::Publisher sync_cloud_slam_pub_;
    ros::Publisher sync_odom_pub_;
    ros::Publisher sync_wiwc_pub_;
    ros::Publisher sync_image_pub_;  // Image

    ros::Publisher overlay_compressed_pub_;
    ros::Publisher combined_pub_;

    std::unique_ptr<CloudReprojector> reprojector_;

    void loadParameters();
    void syncCallback(const sensor_msgs::PointCloud2ConstPtr& cloud_msg,
                      const nav_msgs::OdometryConstPtr& odom_msg,
                      const nav_msgs::OdometryConstPtr& wiwc_msg,
                      const sensor_msgs::ImageConstPtr& image_msg);
};
#endif