// -*- mode: c++ -*-
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2014, JSK Lab
 *  All rights reserved.
 *
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 *   * 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/o2r other materials provided
 *     with the distribution.
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 *     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
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 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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 *********************************************************************/

#include "jsk_pcl_ros/polygon_array_wrapper.h"

namespace jsk_pcl_ros
{
  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);
  }

  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 PCLModelCoefficientMsg::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;
    PCLModelCoefficientMsg 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::PolygonArrayWrapper, nodelet::Nodelet);
