// -*- mode: c++ -*-
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#include "jsk_perception/mask_image_generator.h"
#include <boost/assign.hpp>
#include <jsk_topic_tools/log_utils.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/opencv.hpp>
#if ( CV_MAJOR_VERSION >= 4)
#include <opencv2/imgproc/imgproc_c.h>
#endif


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

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

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

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

  void MaskImageGenerator::configCallback(Config &config, uint32_t level)
  {
    boost::mutex::scoped_lock lock(mutex_);
    offset_x_ = config.offset_x;
    offset_y_ = config.offset_y;
    width_ = config.width;
    height_ = config.height;
  }

  void MaskImageGenerator::generate(const sensor_msgs::Image::ConstPtr& msg)
  {
    boost::mutex::scoped_lock lock(mutex_);
    int min_x = std::min(offset_x_, (int)msg->width);
    int min_y = std::min(offset_y_, (int)msg->height);
    int max_x = std::min(min_x + width_, (int)msg->width);
    int max_y = std::min(min_y + height_, (int)msg->height);
    cv::Mat mask_image = cv::Mat::zeros(msg->height, msg->width, CV_8UC1);
    cv::rectangle(mask_image,
                  cv::Point(min_x, min_y),
                  cv::Point(max_x, max_y),
                  cv::Scalar(255), CV_FILLED);
    pub_.publish(cv_bridge::CvImage(msg->header,
                                    sensor_msgs::image_encodings::MONO8,
                                    mask_image).toImageMsg());
  }
}

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