// Copyright 2019-2021 Robotec.ai.
//
// 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.

using System;
using ROS2;
using sensor_msgs.msg;
using Unity.Collections.LowLevel.Unsafe;
using UnityEngine;

namespace ZC
{

/// <summary>
/// An example class provided for testing of basic ROS2 communication
/// </summary>
public class ROS2TalkerExample : MonoBehaviour
{
    // Start is called before the first frame update
    private ROS2UnityComponent ros2Unity;
    private ROS2Node ros2Node;
    private IPublisher<PointCloud2> chatter_pub;
    private int i;

    void Start()
    {
        ros2Unity = GetComponent<ROS2UnityComponent>();
    }

    void Update()
    {
        if (ros2Unity.Ok())
        {
            if (ros2Node == null)
            {
                ros2Node = ros2Unity.CreateNode("ROS2UnityTalkerNode");
                chatter_pub = ros2Node.CreatePublisher<PointCloud2>("chatter_PointCloud2");
            }

            
            i++;
            PointCloud2 msg = new PointCloud2(); 
            msg.Point_step = 16;
            msg.Data = new byte[150000 * msg.Point_step];
            msg.Width = 1;
            msg.Row_step = 16;
            msg.Height = (uint)(150000);
            unsafe
            {
                var ptr = UnsafeUtility.PinGCArrayAndGetDataAddress(msg.Data, out var handle);
                try
                {
                    var dateTime = (long*)ptr;
                    *dateTime = DateTime.Now.Ticks;
                }
                finally
                {
                    UnsafeUtility.ReleaseGCObject(handle);
                }
            }
            if (Time.frameCount % 60 == 0)
            {
                chatter_pub.Publish(msg);
                Debug.Log($"[{DateTime.Now:HH:mm:ss.fff}]{Time.frameCount}");
            }
        }
    }
}

}  // namespace ROS2