// -*- mode: C++ -*-
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013, Ryohei Ueda and JSK Lab
 *  All rights reserved.
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#ifndef JSK_PCL_ROS_UTILS_PLANE_REJECTOR_H_
#define JSK_PCL_ROS_UTILS_PLANE_REJECTOR_H_


// ros
#include <ros/ros.h>
#include <ros/names.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_broadcaster.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>
#include "jsk_recognition_utils/tf_listener_singleton.h"

#include <dynamic_reconfigure/server.h>
// pcl
#include <pcl_ros/pcl_nodelet.h>

#include <jsk_recognition_msgs/PolygonArray.h>
#include <jsk_recognition_msgs/ModelCoefficientsArray.h>
#include <jsk_recognition_msgs/ClusterPointIndices.h>
#include "jsk_pcl_ros_utils/PlaneRejectorConfig.h"

#include "jsk_recognition_utils/pcl_conversion_util.h"
#include <jsk_topic_tools/time_accumulator.h>
#include <jsk_topic_tools/vital_checker.h>

#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>
#include <jsk_topic_tools/rosparam_utils.h>
#include "jsk_recognition_utils/pcl_util.h"
#include <jsk_topic_tools/connection_based_nodelet.h>


namespace jsk_pcl_ros_utils
{
  class PlaneRejector: public jsk_topic_tools::ConnectionBasedNodelet
  {
  public:
    typedef message_filters::sync_policies::ExactTime< jsk_recognition_msgs::PolygonArray,
                                                       jsk_recognition_msgs::ModelCoefficientsArray > SyncPolicy;
    typedef message_filters::sync_policies::ExactTime< jsk_recognition_msgs::PolygonArray,
                                                       jsk_recognition_msgs::ModelCoefficientsArray,
                                                       jsk_recognition_msgs::ClusterPointIndices
                                                       > SyncInlierPolicy;
    typedef jsk_pcl_ros_utils::PlaneRejectorConfig Config;
    virtual ~PlaneRejector();
  protected:
    virtual void onInit();
    virtual void reject(const jsk_recognition_msgs::PolygonArray::ConstPtr& polygons,
                        const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients);
    virtual void reject(const jsk_recognition_msgs::PolygonArray::ConstPtr& polygons,
                        const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients,
                        const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& inliers);
    virtual void configCallback (Config &config, uint32_t level);

    
    virtual void updateDiagnostics(const ros::TimerEvent& event);
    virtual void updateDiagnosticsPlaneRejector(
      diagnostic_updater::DiagnosticStatusWrapper &stat);
    virtual void subscribe();
    virtual void unsubscribe();
    
    message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygons_;
    message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> sub_coefficients_;
    message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> sub_inliers_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
    boost::shared_ptr<message_filters::Synchronizer<SyncInlierPolicy> > sync_inlier_;
    
    bool use_tf2_;
    bool use_inliers_;
    bool allow_flip_;    
    std::string processing_frame_id_;
    // axis
    Eigen::Vector3d reference_axis_;
    double angle_thr_;
    tf::TransformListener* listener_;
    boost::mutex mutex_;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    ros::Publisher polygons_pub_, coefficients_pub_, inliers_pub_;
    ros::Timer diagnostics_timer_;
    boost::shared_ptr<diagnostic_updater::Updater> diagnostic_updater_;
    jsk_topic_tools::VitalChecker::Ptr vital_checker_;
    jsk_recognition_utils::SeriesedBoolean::Ptr tf_success_;
    
    jsk_recognition_utils::Counter rejected_plane_counter_;
    jsk_recognition_utils::Counter passed_plane_counter_;
    jsk_recognition_utils::Counter input_plane_counter_;
    double angle_;
  private:
    
  };
}

#endif 
