/******************************************************************************
* Copyright 2018 The Apollo Authors. 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.
*****************************************************************************/
#pragma once

#include <string>
#include <map>
#include "cyber/common/macros.h"
#include "modules/perception/radar/lib/interface/base_preprocessor.h"

namespace apollo {
namespace perception {
namespace radar {

class ContiArsPreprocessor : public BasePreprocessor {
 public:
  ContiArsPreprocessor() : BasePreprocessor(),
                           delay_time_(0.0) {}
  virtual ~ContiArsPreprocessor() {}

  bool Init() override;

  bool Preprocess(
       const drivers::ContiRadar& raw_obstacles,
       const PreprocessorOptions& options,
       drivers::ContiRadar* corrected_obstacles) override;

  std::string Name() const override;

  inline double GetDelayTime() {
    return delay_time_;
  }

 private:
  void SkipObjects(const drivers::ContiRadar& raw_obstacles,
                   drivers::ContiRadar* corrected_obstacles);
  void ExpandIds(drivers::ContiRadar* corrected_obstacles);
  void CorrectTime(drivers::ContiRadar* corrected_obstacles);
  int GetNextId();

  float delay_time_ = 0.0f;
  static int current_idx_;
  static int local2global_[ORIGIN_CONTI_MAX_ID_NUM];

  friend class ContiArsPreprocessorTest;

  DISALLOW_COPY_AND_ASSIGN(ContiArsPreprocessor);
};

}  // namespace radar
}  // namespace perception
}  // namespace apollo