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/*
 * LASER SEGMENTATION ROS NODE
 *
 * Copyright (c) 2017-2022 Alberto José Tudela Roldán <ajtudela@gmail.com>
 *
 * This file is part of laser_segmentation.
 *
 * All rights reserved.
 *
 */

#ifndef LASER_SEGMENTATION__LASER_SEGMENTATION_HPP_
#define LASER_SEGMENTATION__LASER_SEGMENTATION_HPP_

// C++
#include <string>

// ROS
#include "rclcpp/rclcpp.hpp"
#include "rcl_interfaces/msg/set_parameters_result.hpp"
#include "sensor_msgs/msg/laser_scan.hpp"
#include "visualization_msgs/msg/marker_array.hpp"

// SIMPLE LASER GEOMETRY
#include "slg_msgs/segment2D.hpp"
#include "slg_msgs/msg/segment_array.hpp"

// LASER SEGMENTATION
#include "laser_segmentation/parula.hpp"
#include "laser_segmentation/segmentation/segmentation.hpp"
#include "laser_segmentation/segmentation/segmentationJumpDistance.hpp"
#include "laser_segmentation/segmentation/segmentationJumpDistanceMerge.hpp"

class laserSegmentation: public rclcpp::Node{
    public:
        laserSegmentation();
        ~laserSegmentation();
    private:
        rclcpp::Publisher<slg_msgs::msg::SegmentArray>::SharedPtr segment_pub_;
        rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr segment_viz_points_pub_;
        rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr scan_sub_;

        OnSetParametersCallbackHandle::SharedPtr callback_handle_;
        //std::vector<rclcpp::Parameter> lastConfig_, defaultConfig_;

        std::string scan_topic_, seg_topic_, segmentation_type_, method_thres_;
        int min_points_, max_points_;
        double min_avg_distance_from_sensor_, max_avg_distance_from_sensor_, min_segment_width_, max_segment_width_, distance_thres_, noise_reduction_;
        bool setup_, restore_;
        Segmentation::SharedPtr segmentation_;

        rcl_interfaces::msg::SetParametersResult parameters_callback(const std::vector<rclcpp::Parameter> &parameters);
        void scan_callback(const sensor_msgs::msg::LaserScan::SharedPtr scan);
        void show_visualization(std_msgs::msg::Header header, std::vector<slg::Segment2D> segmentList);
        std_msgs::msg::ColorRGBA get_parula_color(unsigned int index, unsigned int max);
        std_msgs::msg::ColorRGBA get_palette_color(unsigned int index);
};

#endif  // LASER_SEGMENTATION__LASER_SEGMENTATION_HPP_