/*********************************************************************
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2008, Robert Bosch LLC.
 *  Copyright (c) 2015-2016, Jiri Horner.
 *  Copyright (c) 2021, Carlos Alvarez, Juan Galvis.
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#ifndef NAV_EXPLORE_H_
#define NAV_EXPLORE_H_

#include <explore/costmap_client.h>
#include <explore/frontier_search.h>
#include <geometry_msgs/msg/pose_stamped.h>
#include <tf2_ros/transform_listener.h>

#include <chrono>
#include <cmath>
#include <geometry_msgs/msg/point.hpp>
#include <memory>
#include <mutex>
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/bool.hpp>
#include <std_msgs/msg/color_rgba.hpp>
#include <string>
#include <vector>
#include <visualization_msgs/msg/marker_array.hpp>

#include "nav2_msgs/action/navigate_to_pose.hpp"
#include "rclcpp_action/rclcpp_action.hpp"

using namespace std::placeholders;
#ifdef ELOQUENT
#define ACTION_NAME "NavigateToPose"
#elif DASHING
#define ACTION_NAME "NavigateToPose"
#else
#define ACTION_NAME "navigate_to_pose"
#endif
namespace explore
{
/**
 * @class Explore
 * @brief A class adhering to the robot_actions::Action interface that moves the
 * robot base to explore its environment.
 */
class Explore : public rclcpp::Node
{
public:
  Explore();
  ~Explore();

  void start();
  void stop(bool finished_exploring = false);
  void resume();
  void sendRandomGoal();

  using NavigationGoalHandle =
      rclcpp_action::ClientGoalHandle<nav2_msgs::action::NavigateToPose>;

private:
  /**
   * @brief  Make a global plan
   */
   
  bool initial_random_exploration_;
  size_t random_goal_index_;
  std::vector<geometry_msgs::msg::Point> random_goals_;


  void makePlan();

  // /**
  //  * @brief  Publish a frontiers as markers
  //  */
  void visualizeFrontiers(
      const std::vector<frontier_exploration::Frontier>& frontiers);

  bool goalOnBlacklist(const geometry_msgs::msg::Point& goal);

  NavigationGoalHandle::SharedPtr navigation_goal_handle_;
  // void
  // goal_response_callback(std::shared_future<NavigationGoalHandle::SharedPtr>
  // future);
  void reachedGoal(const NavigationGoalHandle::WrappedResult& result,
                   const geometry_msgs::msg::Point& frontier_goal);

  rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr
      marker_array_publisher_;
  rclcpp::Logger logger_;
  tf2_ros::Buffer tf_buffer_;
  tf2_ros::TransformListener tf_listener_;

  Costmap2DClient costmap_client_;
  rclcpp_action::Client<nav2_msgs::action::NavigateToPose>::SharedPtr
      move_base_client_;
  frontier_exploration::FrontierSearch search_;
  rclcpp::TimerBase::SharedPtr exploring_timer_;
  // rclcpp::TimerBase::SharedPtr oneshot_;

  rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr resume_subscription_;
  void resumeCallback(const std_msgs::msg::Bool::SharedPtr msg);

  std::vector<geometry_msgs::msg::Point> frontier_blacklist_;
  geometry_msgs::msg::Point prev_goal_;
  double prev_distance_;
  rclcpp::Time last_progress_;
  size_t last_markers_count_;

  geometry_msgs::msg::Pose initial_pose_;
  void returnToInitialPose(void);

  // parameters
  double planner_frequency_;
  double potential_scale_, orientation_scale_, gain_scale_;
  double progress_timeout_;
  bool visualize_;
  bool return_to_init_;
  std::string robot_base_frame_;
  bool resuming_ = false;
};
}  // namespace explore

#endif
