/*
 * Copyright (C) 2019-2020 LEIDOS.
 *
 * 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 <ros/ros.h>
#include <boost/shared_ptr.hpp>
#include <carma_utils/CARMAUtils.h>
#include <tf2/LinearMath/Quaternion.h>
#include <tf2_ros/transform_broadcaster.h>
#include <geometry_msgs/TransformStamped.h>
#include <geometry_msgs/PoseStamped.h>
#include <autoware_msgs/NDTStat.h>
#include "ndt_reliability_counter.h"

namespace localizer
{

    enum LocalizerMode {
        NDT = 0,
        GNSS = 1,
        AUTO = 2,
    };

    class Localizer
    {

        public:

            Localizer();

            // general starting point of this node
            void run();

        private:

            // node handles
            std::shared_ptr<ros::CARMANodeHandle> nh_, pnh_;

            // transform broadcaster
            tf2_ros::TransformBroadcaster br_;

            // subscribers
            ros::Subscriber ndt_pose_sub_;
            ros::Subscriber ndt_score_sub_;
            ros::Subscriber gnss_pose_sub_;

            // publisher
            ros::Publisher pose_pub_;

            // member variables
            double spin_rate_;
            int localization_mode_;

            // local copy of ros params
            // if above this number, this ndt msg is not reliable
            double score_upper_limit_;
            // if receiving this number of continuous unreliable score, current ndt matching result is not reliable
            int unreliable_message_upper_limit_;

            // reliability counter
            NDTReliabilityCounter counter;

            // callbacks
            void ndtPoseCallback(const geometry_msgs::PoseStampedConstPtr& msg);
            void gnssPoseCallback(const geometry_msgs::PoseStampedConstPtr& msg);
            void ndtScoreCallback(const autoware_msgs::NDTStatConstPtr& msg);

            // helper function
            void publishPoseStamped(const geometry_msgs::PoseStampedConstPtr& msg);
            void publishTransform(const geometry_msgs::PoseStampedConstPtr& msg);

    };
	
}
