/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * Copyright (c) 2012, Ivan Dryanovski <ivan.dryanovski@gmail.com>
 * 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 Willow Garage, Inc. 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 "imu_axes_visual.h"

#include <ros/ros.h>
#include <cmath>

namespace rviz {

ImuAxesVisual::ImuAxesVisual(Ogre::SceneManager* scene_manager,
                             Ogre::SceneNode* parent_node)
    : orientation_axes_(NULL), scale_(0.15), quat_valid_(true)
{
    scene_manager_ = scene_manager;

    // Ogre::SceneNode s form a tree, with each node storing the
    // transform (position and orientation) of itself relative to its
    // parent.  Ogre does the math of combining those transforms when it
    // is time to render.
    //
    // Here we create a node to store the pose of the Imu's header frame
    // relative to the RViz fixed frame.
    frame_node_ = parent_node->createChildSceneNode();
}

ImuAxesVisual::~ImuAxesVisual()
{
    hide();

    // Destroy the frame node since we don't need it anymore.
    scene_manager_->destroySceneNode(frame_node_);
}

void ImuAxesVisual::show()
{
    if (!orientation_axes_)
    {
        orientation_axes_ = new Axes(scene_manager_, frame_node_);
        orientation_axes_->setScale(Ogre::Vector3(scale_, scale_, scale_));
        orientation_axes_->setOrientation(orientation_);
    }
}

void ImuAxesVisual::hide()
{
    if (orientation_axes_)
    {
        delete orientation_axes_;
        orientation_axes_ = NULL;
    }
}

void ImuAxesVisual::setMessage(const sensor_msgs::Imu::ConstPtr& msg)
{
    if (checkQuaternionValidity(msg))
    {
        if (!quat_valid_)
        {
            ROS_INFO(
                "rviz_imu_plugin got valid quaternion, "
                "displaying true orientation");
            quat_valid_ = true;
        }
        orientation_ = Ogre::Quaternion(msg->orientation.w, msg->orientation.x,
                                        msg->orientation.y, msg->orientation.z);
    } else
    {
        if (quat_valid_)
        {
            ROS_WARN(
                "rviz_imu_plugin got invalid quaternion (%lf, %lf, %lf, %lf), "
                "will display neutral orientation instead",
                msg->orientation.w, msg->orientation.x, msg->orientation.y,
                msg->orientation.z);
            quat_valid_ = false;
        }
        // if quaternion is invalid, give a unit quat to Ogre
        orientation_ = Ogre::Quaternion();
    }

    if (orientation_axes_) orientation_axes_->setOrientation(orientation_);
}

void ImuAxesVisual::setScale(float scale)
{
    scale_ = scale;
    if (orientation_axes_)
        orientation_axes_->setScale(Ogre::Vector3(scale_, scale_, scale_));
}

void ImuAxesVisual::setFramePosition(const Ogre::Vector3& position)
{
    frame_node_->setPosition(position);
}

void ImuAxesVisual::setFrameOrientation(const Ogre::Quaternion& orientation)
{
    frame_node_->setOrientation(orientation);
}

inline bool ImuAxesVisual::checkQuaternionValidity(
    const sensor_msgs::Imu::ConstPtr& msg)
{
    double x = msg->orientation.x, y = msg->orientation.y,
           z = msg->orientation.z, w = msg->orientation.w;
    // OGRE can handle unnormalized quaternions, but quat's length extremely
    // small; this may indicate that invalid (0, 0, 0, 0) quat is passed, this
    // will lead ogre to crash unexpectly
    if (std::sqrt(x * x + y * y + z * z + w * w) < 0.0001)
    {
        return false;
    }
    return true;
}

}  // end namespace rviz
