// -*- mode: c++ -*-
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#include "jsk_pcl_ros_utils/cluster_point_indices_to_point_indices.h"
#include <jsk_recognition_utils/pcl_conversion_util.h>
#include <jsk_topic_tools/log_utils.h>
#include <jsk_recognition_msgs/ClusterPointIndices.h>
#include <boost/assign.hpp>

namespace jsk_pcl_ros_utils
{

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

    pub_ = advertise<PCLIndicesMsg>(*pnh_, "output", 1);
    onInitPostProcess();
  }

  void ClusterPointIndicesToPointIndices::configCallback(
    Config &config, uint32_t level)
  {
    boost::mutex::scoped_lock lock(mutex_);
    index_ = config.index;
  }

  void ClusterPointIndicesToPointIndices::subscribe()
  {
    sub_ = pnh_->subscribe("input", 1,
                           &ClusterPointIndicesToPointIndices::convert,
                           this);
    ros::V_string names = boost::assign::list_of("~input");
    jsk_topic_tools::warnNoRemap(names);
  }

  void ClusterPointIndicesToPointIndices::unsubscribe()
  {
    sub_.shutdown();
  }

  void ClusterPointIndicesToPointIndices::convert(
    const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& cluster_indices_msg)
  {
    vital_checker_->poke();
    PCLIndicesMsg indices_msg;
    indices_msg.header = cluster_indices_msg->header;

    int cluster_size = cluster_indices_msg->cluster_indices.size();
    if (index_ < 0) {
      for(int i = 0;i < cluster_size; ++i) {
        indices_msg.indices.insert(indices_msg.indices.end(),
                                   cluster_indices_msg->cluster_indices[i].indices.begin(),
                                   cluster_indices_msg->cluster_indices[i].indices.end());
      }
    } else if (index_ < cluster_size) {
      indices_msg.indices = cluster_indices_msg->cluster_indices[index_].indices;
    } else {
      NODELET_ERROR_THROTTLE(10, "Invalid ~index %d is specified for cluster size %d.", index_, cluster_size);
    }
    pub_.publish(indices_msg);
  }

}  // namespace jsk_pcl_ros_utils

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