// -*- mode: c++ -*-
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2014, 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;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  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
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

#include "jsk_pcl_ros_utils/polygon_array_wrapper.h"

namespace jsk_pcl_ros_utils
{
  void PolygonArrayWrapper::onInit()
  {
    ConnectionBasedNodelet::onInit();
    pub_polygon_array_ = advertise<jsk_recognition_msgs::PolygonArray>(*pnh_,
      "output_polygons", 1);
    pub_coefficients_array_
      = advertise<jsk_recognition_msgs::ModelCoefficientsArray>(*pnh_,
        "output_coefficients", 1);
    onInitPostProcess();
  }

  PolygonArrayWrapper::~PolygonArrayWrapper() {
    // 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 PolygonArrayWrapper::subscribe()
  {
    sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
    sub_polygon_.subscribe(*pnh_, "input_polygon", 1);
    sub_coefficients_.subscribe(*pnh_, "input_coefficients", 1);
    sync_->connectInput(sub_polygon_, sub_coefficients_);
    sync_->registerCallback(boost::bind(
                              &PolygonArrayWrapper::wrap,
                              this, _1, _2));
  }

  void PolygonArrayWrapper::unsubscribe()
  {
    sub_polygon_.unsubscribe();
    sub_coefficients_.unsubscribe();
  }
  
  void PolygonArrayWrapper::wrap(
    const geometry_msgs::PolygonStamped::ConstPtr& polygon,
    const pcl_msgs::ModelCoefficients::ConstPtr& coefficients)
  {
    jsk_recognition_msgs::PolygonArray array_msg;
    array_msg.header = polygon->header;
    geometry_msgs::PolygonStamped new_polygon(*polygon);
    array_msg.polygons.push_back(new_polygon);
    pub_polygon_array_.publish(array_msg);

    jsk_recognition_msgs::ModelCoefficientsArray coefficients_array;
    coefficients_array.header = coefficients->header;
    pcl_msgs::ModelCoefficients new_coefficients(*coefficients);
    coefficients_array.coefficients.push_back(new_coefficients);
    pub_coefficients_array_.publish(coefficients_array);
  }
  
}

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