#pragma once
#include "rqt_gui_cpp/plugin.h"
#include <QtGui>
#include <QtQuick>
#include <QtWidgets>
#include <qfileinfo.h>
#include <qobjectdefs.h>
#include <qpushbutton.h>
#include <qquickview.h>
#include <qquickwindow.h>
#include <qresource.h>
#include <qurl.h>
#include <qwidget.h>

inline void initResources() { Q_INIT_RESOURCE(res); }
inline void cleanupResources() { Q_CLEANUP_RESOURCE(res); }

namespace mg {

class DemoPluginMg : public rqt_gui_cpp::Plugin {
  Q_OBJECT
public:
  DemoPluginMg();
  ~DemoPluginMg();

  virtual void shutdownPlugin() {
    RCLCPP_INFO(node_->get_logger(), "The plugin has been shutdown");
  }
  virtual void initPlugin(qt_gui_cpp::PluginContext &);
};

inline void DemoPluginMg::initPlugin(qt_gui_cpp::PluginContext &pc) {
  QQuickView *qv = new QQuickView(QUrl("qrc:/qml/helloworld.qml"));
  qv->setResizeMode(QQuickView::ResizeMode::SizeRootObjectToView);
  QWidget *qw = QWidget::createWindowContainer(qv);
  pc.addWidget(qw);

  RCLCPP_INFO(node_->get_logger(), "The plugin has been initialized");
}

}; // namespace mg