#include <OgreSceneNode.h>
#include <OgreSceneManager.h>

#include <rviz/visualization_manager.h>
#include <rviz/properties/color_property.h>
#include <rviz/properties/float_property.h>
#include <rviz/properties/int_property.h>
#include <rviz/frame_manager.h>
#include <rviz/validate_floats.h>

#include "point_visual.h"

#include "point_display.h"

namespace rviz
{

    PointStampedDisplay::PointStampedDisplay()
    {
	color_property_ =
	    new rviz::ColorProperty( "Color", QColor(204, 41, 204),
                                     "Color of a point",
                                     this, SLOT( updateColorAndAlpha() ));

	alpha_property_ =
	    new rviz::FloatProperty( "Alpha", 1.0,
                                     "0 is fully transparent, 1.0 is fully opaque.",
                                     this, SLOT( updateColorAndAlpha() ));

	radius_property_ =
	    new rviz::FloatProperty( "Radius", 0.2,
                                     "Radius of a point",
                                     this, SLOT( updateColorAndAlpha() ));

	history_length_property_ =
	    new rviz::IntProperty( "History Length", 1,
                                   "Number of prior measurements to display.",
                                   this, SLOT( updateHistoryLength() ));
        history_length_property_->setMin( 1 );
        history_length_property_->setMax( 100000 );
    }

    void PointStampedDisplay::onInitialize()
    {
        MFDClass::onInitialize();
        updateHistoryLength();
    }

    PointStampedDisplay::~PointStampedDisplay()
    {
    }

    // Clear the visuals by deleting their objects.
    void PointStampedDisplay::reset()
    {
        MFDClass::reset();
        visuals_.clear();
    }

    // Set the current color and alpha values for each visual.
    void PointStampedDisplay::updateColorAndAlpha()
    {
        float alpha = alpha_property_->getFloat();
        float radius = radius_property_->getFloat();
        Ogre::ColourValue color = color_property_->getOgreColor();

        for( size_t i = 0; i < visuals_.size(); i++ )
	{
            visuals_[i]->setColor( color.r, color.g, color.b, alpha );
            visuals_[i]->setRadius( radius );
        }
    }

    // Set the number of past visuals to show.
    void PointStampedDisplay::updateHistoryLength()
    {
        visuals_.rset_capacity(history_length_property_->getInt());
    }

    // This is our callback to handle an incoming message.
    void PointStampedDisplay::processMessage( const geometry_msgs::PointStamped::ConstPtr& msg )
    {

        if( !rviz::validateFloats( msg->point ))
            {
                setStatus( rviz::StatusProperty::Error, "Topic", "Message contained invalid floating point values (nans or infs)" );
                return;
            }

        // Here we call the rviz::FrameManager to get the transform from the
        // fixed frame to the frame in the header of this Point message.  If
        // it fails, we can't do anything else so we return.
        Ogre::Quaternion orientation;
        Ogre::Vector3 position;
        if( !context_->getFrameManager()->getTransform( msg->header.frame_id,
                                                        msg->header.stamp,
                                                        position, orientation ))
        {
	    ROS_DEBUG( "Error transforming from frame '%s' to frame '%s'",
		       msg->header.frame_id.c_str(), qPrintable( fixed_frame_ ) );
            return;
        }

        // We are keeping a circular buffer of visual pointers.  This gets
        // the next one, or creates and stores it if the buffer is not full
        boost::shared_ptr<PointStampedVisual> visual;
        if( visuals_.full() )
            {
                visual = visuals_.front();
            }
        else
            {
                visual.reset(new PointStampedVisual( context_->getSceneManager(), scene_node_ ));
            }


        // Now set or update the contents of the chosen visual.
        visual->setMessage( msg );
        visual->setFramePosition( position );
        visual->setFrameOrientation( orientation );
        float alpha = alpha_property_->getFloat();
        float radius = radius_property_->getFloat();
        Ogre::ColourValue color = color_property_->getOgreColor();
        visual->setColor( color.r,  color.g,  color.b, alpha);
        visual->setRadius( radius );


        // And send it to the end of the circular buffer
        visuals_.push_back(visual);
    }

} // end namespace rviz

// Tell pluginlib about this class.  It is important to do this in
// global scope, outside our package's namespace.
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS( rviz::PointStampedDisplay, rviz::Display )


