// -*- mode: c++ -*-
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 *
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#define BOOST_PARAMETER_MAX_ARITY 7
#include "jsk_recognition_utils/pcl_conversion_util.h"
#include "jsk_pcl_ros_utils/polygon_points_sampler.h"

namespace jsk_pcl_ros_utils
{
  void PolygonPointsSampler::onInit()
  {
    DiagnosticNodelet::onInit();
    srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
    typename dynamic_reconfigure::Server<Config>::CallbackType f =
      boost::bind (&PolygonPointsSampler::configCallback, this, _1, _2);
    srv_->setCallback (f);

    pub_ = advertise<sensor_msgs::PointCloud2>(*pnh_, "output", 1);
    pub_xyz_ = advertise<sensor_msgs::PointCloud2>(*pnh_, "output_xyz", 1);

    onInitPostProcess();
  }

  PolygonPointsSampler::~PolygonPointsSampler() {
    // message_filters::Synchronizer needs to be called reset
    // before message_filters::Subscriber is freed.
    // Calling reset fixes the following error on shutdown of the nodelet:
    // terminate called after throwing an instance of
    // 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
    //     what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument
    // Also see https://github.com/ros/ros_comm/issues/720 .
    sync_.reset();
  }

  void PolygonPointsSampler::subscribe()
  {
    sub_polygons_.subscribe(*pnh_, "input/polygons", 1);
    sub_coefficients_.subscribe(*pnh_, "input/coefficients", 1);
    sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
    sync_->connectInput(sub_polygons_, sub_coefficients_);
    sync_->registerCallback(boost::bind(&PolygonPointsSampler::sample, this, _1, _2));
  }

  void PolygonPointsSampler::unsubscribe()
  {
    sub_polygons_.unsubscribe();
    sub_coefficients_.unsubscribe();
  }

  bool PolygonPointsSampler::isValidMessage(
    const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_msg,
    const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients_msg)
  {
    if (polygon_msg->polygons.size() == 0) {
      NODELET_DEBUG("empty polygons");
      return false;
    }
    if (coefficients_msg->coefficients.size() != polygon_msg->polygons.size()) {
      NODELET_ERROR("The size of coefficients and polygons are not same");
      return false;
    }

    std::string frame_id = polygon_msg->header.frame_id;
    for (size_t i = 0; i < polygon_msg->polygons.size(); i++) {
      if (frame_id != polygon_msg->polygons[i].header.frame_id) {
        NODELET_ERROR("Frame id of polygon is not same: %s, %s",
                      frame_id.c_str(),
                      polygon_msg->polygons[i].header.frame_id.c_str());
        return false;
      }
    }
    for (size_t i = 0; i < coefficients_msg->coefficients.size(); i++) {
      if (frame_id != coefficients_msg->coefficients[i].header.frame_id) {
        NODELET_ERROR("Frame id of coefficient is not same: %s, %s",
                      frame_id.c_str(),
                      coefficients_msg->coefficients[i].header.frame_id.c_str());
        return false;
      }
    }
    return true;
  }
  
  void PolygonPointsSampler::sample(
    const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_msg,
    const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients_msg)
  {
    boost::mutex::scoped_lock lock(mutex_);
    vital_checker_->poke();
    // check frame_ids
    if (!isValidMessage(polygon_msg, coefficients_msg)) {
      return;
    }
    // Sample points... 
    pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBNormal>);
    pcl::PointCloud<pcl::PointXYZ>::Ptr xyz_cloud (new pcl::PointCloud<pcl::PointXYZ>);
    for (size_t i = 0; i < polygon_msg->polygons.size(); i++) {
      jsk_recognition_utils::Polygon polygon
        = jsk_recognition_utils::Polygon::fromROSMsg(polygon_msg->polygons[i].polygon);
      pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr one_cloud
        = polygon.samplePoints<pcl::PointXYZRGBNormal>(grid_size_);
      pcl::PointCloud<pcl::PointXYZ> one_xyz_cloud;
      one_xyz_cloud.points.resize(one_cloud->points.size());
      for (size_t i = 0; i < one_cloud->points.size(); i++) {
        pcl::PointXYZ p;
        p.getVector3fMap() = one_cloud->points[i].getVector3fMap();
        one_xyz_cloud.points[i] = p;
      }
      *xyz_cloud = *xyz_cloud + one_xyz_cloud;
      *cloud = *cloud + *one_cloud;
    }
    sensor_msgs::PointCloud2 ros_cloud;
    pcl::toROSMsg(*cloud, ros_cloud);
    ros_cloud.header = polygon_msg->header;
    pub_.publish(ros_cloud);
    sensor_msgs::PointCloud2 ros_xyz_cloud;
    pcl::toROSMsg(*xyz_cloud, ros_xyz_cloud);
    ros_xyz_cloud.header = polygon_msg->header;
    pub_xyz_.publish(ros_xyz_cloud);
  }

  
  void PolygonPointsSampler::configCallback(Config& config, uint32_t level)
  {
    boost::mutex::scoped_lock lock(mutex_);
    grid_size_ = config.grid_size;
  }
}

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros_utils::PolygonPointsSampler, nodelet::Nodelet);
