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#ifndef RIG_RECONFIGURE_PARAMETER_TREE_HPP
#define RIG_RECONFIGURE_PARAMETER_TREE_HPP

#include <memory>
#include <optional>
#include <utility>

#include <rcl_interfaces/msg/parameter_descriptor.hpp>

#include "responses.hpp"

struct TreeElement {
    TreeElement(const ROSParameter &parameter_, std::string fullParameterPath_,
                std::optional<std::size_t> patternStart_ = std::nullopt,
                std::optional<std::size_t> patternEnd_ = std::nullopt) :
        name(parameter_.name), description(parameter_.description),
        fullPath(std::move(fullParameterPath_)), value(parameter_.value),
        searchPatternStart(patternStart_), searchPatternEnd(patternEnd_) {};

    TreeElement(std::string name_, const rcl_interfaces::msg::ParameterDescriptor &description_,
                std::string fullParameterPath_, ROSParameterVariant value_,
                std::optional<std::size_t> patternStart_ = std::nullopt,
                std::optional<std::size_t> patternEnd_ = std::nullopt) :
        name(std::move(name_)), description(description_), fullPath(std::move(fullParameterPath_)),
        value(std::move(value_)), searchPatternStart(patternStart_), searchPatternEnd(patternEnd_) {};

    std::string name; // parameter name without prefixes
    rcl_interfaces::msg::ParameterDescriptor description;

    // in addition to the name we store the full path of the parameter in the leaf nodes of the tree in order to be
    // able to support the mixing of different separators
    std::string fullPath;

    ROSParameterVariant value;

    // in case this parameter is part of a filtered parameter tree the following two members store the intermediate
    // information where in the name (not the fullPath!) the applied search pattern is located
    std::optional<std::size_t> searchPatternStart;
    std::optional<std::size_t> searchPatternEnd;
};

struct ParameterGroup {
    explicit ParameterGroup(std::string prefix_ = "") : prefix(std::move(prefix_)) {};

    std::string prefix;
    std::optional<std::size_t> prefixSearchPatternStart;
    std::optional<std::size_t> prefixSearchPatternEnd;

    std::vector<TreeElement> parameters;
    std::vector<std::shared_ptr<ParameterGroup>> subgroups;
};

class ParameterTree {
  public:
    ParameterTree();

    void add(const ROSParameter &parameter);
    void clear();
    [[nodiscard]] std::shared_ptr<ParameterGroup> getRoot();
    [[nodiscard]] std::size_t getMaxParamNameLength() const;
    [[nodiscard]] std::string getAppliedFilter() const;

    [[nodiscard]] ParameterTree filter(const std::string &filterString) const;

    void removeEmptySubgroups();


  private:
    void add(const std::shared_ptr<ParameterGroup> &curNode, const TreeElement &parameter);

    void filter(const std::shared_ptr<ParameterGroup> &destinationNode,
                const std::shared_ptr<ParameterGroup> &sourceNode,
                const std::string &filterString) const;

    std::shared_ptr<ParameterGroup> root = nullptr;

    // bookkeeping for a nicer visualization
    std::size_t maxParamNameLength = 0;

    std::string appliedFilter;
};

#endif // RIG_RECONFIGURE_PARAMETER_TREE_HPP