#include <chrono>
#include <thread>
#include <QGuiApplication>
#include <QProcessEnvironment>
#include <QQmlApplicationEngine>
#include <QtQuick/QQuickView>

#include <ament_index_cpp/get_package_prefix.hpp>
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <ignition/gui/Application.hh>
#include <ignition/gui/MainWindow.hh>
#include <ignition/gui/qt.h>

#include "my_application.hh"

int main(int argc, char **argv)
{
  MyApplication app(argc, argv, ignition::gui::WindowType::kMainWindow);
    
  // QML application engine with downstream customizations
  auto engine = QQmlApplicationEngine(/*&app*/);
  QObject::connect(
    &engine, &QQmlApplicationEngine::objectCreated, [](QObject *object, const QUrl &url) {
      if (object == nullptr)
      {
        qCritical() << "Failed to load QML.";
        exit(1);
      }
    });
  engine.addImportPath("qrc:///");
  for (const auto &path : QProcessEnvironment::systemEnvironment().value("LD_LIBRARY_PATH").split(":"))
  {
    engine.addPluginPath(path);
  }
  engine.load(QUrl("qrc:///example.qml"));

  // Dependency injection of the QML engine to be compatible with downstream applications
  app.SetEngine(&engine);

  auto quickWindow = qobject_cast<QQuickWindow *>(app.Engine()->rootObjects().value(0));
  auto rootItem = qobject_cast<QQuickItem *>(app.Engine()->rootObjects().first());
  auto container = rootItem->findChild<QQuickItem *>("ignContainer");

  // Dependency injection of the plugin container
  app.SetPluginItemContainer(container);


  // Same config as used in rviz/application.cpp
  auto rviz_share_directory = ament_index_cpp::get_package_share_directory("ign_rviz");
  app.LoadConfig(rviz_share_directory + "/config/rviz.config");

  // Same plugins as rviz/application.cpp
  // auto plugin_directory = ament_index_cpp::get_package_prefix("ign_rviz_plugins");
  // app.AddPluginPath(plugin_directory + "/lib");

  auto code =  QGuiApplication::exec();
  auto plugin_names = app.PluginList();
  for(auto const name_and_path: plugin_names)
  {
    auto name = name_and_path.first;
    app.RemovePlugin(name);
    qInfo() << "Removed plugin " << name.c_str();
  }
  std::this_thread::sleep_for(std::chrono::milliseconds(300));
  return code;
}