/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013, Yuto Inagaki and JSK Lab
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the JSK Lab nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 *********************************************************************/


#include "jsk_pcl_ros_utils/tf_transform_cloud.h"
#include <pluginlib/class_list_macros.h>

#include <tf2_ros/buffer_client.h>
#include <pcl/common/centroid.h>

namespace jsk_pcl_ros_utils
{
  void TfTransformCloud::transform(const sensor_msgs::PointCloud2ConstPtr &input)
  {
    vital_checker_->poke();
    sensor_msgs::PointCloud2 output;
    try
    {
      if (use_latest_tf_) {
        sensor_msgs::PointCloud2 latest_pointcloud(*input);
        latest_pointcloud.header.stamp = ros::Time(0);
        if (pcl_ros::transformPointCloud(target_frame_id_, latest_pointcloud, output,
                                         *tf_listener_)) {
          output.header.stamp = input->header.stamp;
          pub_cloud_.publish(output);
        }
      }
      else {
        if (pcl_ros::transformPointCloud(target_frame_id_, *input, output,
                                         *tf_listener_)) {
          pub_cloud_.publish(output);
        }
      }
    }
    catch (tf2::ConnectivityException &e)
    {
      NODELET_ERROR("Transform error: %s", e.what());
    }
    catch (tf2::InvalidArgumentException &e)
    {
      NODELET_ERROR("Transform error: %s", e.what());
    }
    catch (...)
    {
      NODELET_ERROR("Unknown transform error");
    }
  }

  void TfTransformCloud::onInit(void)
  {
    DiagnosticNodelet::onInit();
    
    if (!pnh_->getParam("target_frame_id", target_frame_id_))
    {
      ROS_WARN("~target_frame_id is not specified, using %s", "/base_footprint");
    }
    pnh_->param("duration", duration_, 1.0);
    pnh_->param("use_latest_tf", use_latest_tf_, false);
    pnh_->param("tf_queue_size", tf_queue_size_, 10);
    tf_listener_ = jsk_recognition_utils::TfListenerSingleton::getInstance();
    pub_cloud_ = advertise<sensor_msgs::PointCloud2>(*pnh_, "output", 1);

    onInitPostProcess();
  }

  void TfTransformCloud::subscribe()
  {
    if (use_latest_tf_) {
      sub_cloud_ = pnh_->subscribe("input", 1, &TfTransformCloud::transform, this);
    }
    else {
      sub_cloud_message_filters_.subscribe(*pnh_, "input", 10);
      tf_filter_.reset(new tf::MessageFilter<sensor_msgs::PointCloud2>(sub_cloud_message_filters_,
                                                                       *tf_listener_,
                                                                       target_frame_id_,
                                                                       tf_queue_size_));
      tf_filter_->registerCallback(boost::bind(&TfTransformCloud::transform, this, _1));
    }
  }

  void TfTransformCloud::unsubscribe()
  {
    if (use_latest_tf_) {
      sub_cloud_.shutdown();
    }
    else {
      sub_cloud_message_filters_.unsubscribe();
    }
  }
}

PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros_utils::TfTransformCloud, nodelet::Nodelet);
