/*
 * Copyright 2018-2019 Autoware Foundation. All rights reserved.
 *
 * 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.
 ********************
 */
#ifndef WAYAREA_TO_GRID_H
#define WAYAREA_TO_GRID_H

#include <iostream>
#include <vector>
#include <string>
#include <chrono>

#include <ros/ros.h>
#include <geometry_msgs/TwistStamped.h>
#include <tf/transform_listener.h>

#include <vector_map/vector_map.h>

#include <grid_map_ros/grid_map_ros.hpp>
#include <grid_map_msgs/GridMap.h>
#include <grid_map_cv/grid_map_cv.hpp>

#include <cv_bridge/cv_bridge.h>
#include <opencv2/highgui/highgui.hpp>

#include "object_map/object_map_utils.hpp"

namespace object_map
{

  class WayareaToGrid
  {
  public:
    WayareaToGrid();

    void Run();

  private:
    // handle
    ros::NodeHandle         node_handle_;
    ros::NodeHandle         private_node_handle_;

    ros::Publisher          publisher_grid_map_;
    ros::Publisher          publisher_occupancy_;

    grid_map::GridMap       gridmap_;

    std::string             sensor_frame_;
    std::string             map_frame_;

    const std::string       grid_layer_name_ = "wayarea";

    double                  grid_resolution_;
    double                  grid_length_x_;
    double                  grid_length_y_;
    double                  grid_position_x_;
    double                  grid_position_y_;
    double                  grid_position_z_;

    tf::TransformListener   tf_listener_;

    int                     OCCUPANCY_ROAD      = 128;
    int                     OCCUPANCY_NO_ROAD   = 255;
    const int               grid_min_value_     = 0;
    const int               grid_max_value_     = 255;

    std::vector<std::vector<geometry_msgs::Point>> area_points_;

    /*!
     * Initializes ROS Publisher, Subscribers and sets the configuration parameters
     */
    void InitializeROSIo();


  };

}  // namespace object_map

#endif  // WAYAREA_TO_GRID