/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * 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 <OgreSceneNode.h>
#include <OgreSceneManager.h>

#include <ros/time.h>

#include "rviz/default_plugin/point_cloud_common.h"
#include "rviz/default_plugin/point_cloud_transformers.h"
#include "rviz/display_context.h"
#include "rviz/frame_manager.h"
#include "rviz/ogre_helpers/point_cloud.h"
#include "rviz/properties/int_property.h"
#include "rviz/validate_floats.h"

#include "fluid_pressure_display.h"

namespace rviz
{

FluidPressureDisplay::FluidPressureDisplay()
  : point_cloud_common_( new PointCloudCommon( this ))
{
  queue_size_property_ = new IntProperty( "Queue Size", 10,
                                          "Advanced: set the size of the incoming FluidPressure message queue. "
                                          " Increasing this is useful if your incoming TF data is delayed significantly "
                                          "from your FluidPressure data, but it can greatly increase memory usage if the messages are big.",
                                          this, SLOT( updateQueueSize() ));

  // PointCloudCommon sets up a callback queue with a thread for each
  // instance.  Use that for processing incoming messages.
  update_nh_.setCallbackQueue( point_cloud_common_->getCallbackQueue() );
}

FluidPressureDisplay::~FluidPressureDisplay()
{
  delete point_cloud_common_;
}

void FluidPressureDisplay::onInitialize()
{
  MFDClass::onInitialize();
  point_cloud_common_->initialize( context_, scene_node_ );

  // Set correct initial values
  subProp("Channel Name")->setValue("fluid_pressure");
  subProp("Autocompute Intensity Bounds")->setValue(false);
  subProp("Min Intensity")->setValue(98000); // Typical 'low' atmosphereic pressure in Pascal
  subProp("Max Intensity")->setValue(105000); // Typica 'high' atmosphereic pressure in Pascal
}

void FluidPressureDisplay::updateQueueSize()
{
  tf_filter_->setQueueSize( (uint32_t) queue_size_property_->getInt() );
}

void FluidPressureDisplay::processMessage( const sensor_msgs::FluidPressureConstPtr& msg )
{
  // Filter any nan values out of the cloud.  Any nan values that make it through to PointCloudBase
  // will get their points put off in lala land, but it means they still do get processed/rendered
  // which can be a big performance hit
  sensor_msgs::PointCloud2Ptr filtered(new sensor_msgs::PointCloud2);

  // Create fields
  sensor_msgs::PointField x;
  x.name = "x";
  x.offset = 0;
  x.datatype = sensor_msgs::PointField::FLOAT32;
  x.count = 1;
  sensor_msgs::PointField y;
  y.name = "y";
  y.offset = 4;
  y.datatype = sensor_msgs::PointField::FLOAT32;
  y.count = 1;
  sensor_msgs::PointField z;
  z.name = "z";
  z.offset = 8;
  z.datatype = sensor_msgs::PointField::FLOAT32;
  z.count = 1;
  sensor_msgs::PointField fluid_pressure;
  fluid_pressure.name = "fluid_pressure";
  fluid_pressure.offset = 12;
  fluid_pressure.datatype = sensor_msgs::PointField::FLOAT64;
  fluid_pressure.count = 1;

  // Create pointcloud from message
  filtered->header = msg->header;
  filtered->fields.push_back(x);
  filtered->fields.push_back(y);
  filtered->fields.push_back(z);
  filtered->fields.push_back(fluid_pressure);
  filtered->data.resize(20);
  const float zero_float = 0.0; // FluidPressure is always on its tf frame
  memcpy(&filtered->data[x.offset], &zero_float, 4);
  memcpy(&filtered->data[y.offset], &zero_float, 4);
  memcpy(&filtered->data[z.offset], &zero_float, 4);
  memcpy(&filtered->data[fluid_pressure.offset], &msg->fluid_pressure, 8);
  filtered->height = 1;
  filtered->width = 1;
  filtered->is_bigendian = false;
  filtered->point_step = 20;
  filtered->row_step = 1;

  // Give to point_cloud_common to draw
  point_cloud_common_->addMessage( filtered );
}


void FluidPressureDisplay::update( float wall_dt, float ros_dt )
{
  point_cloud_common_->update( wall_dt, ros_dt );

  // Hide unneeded properties
  subProp("Position Transformer")->hide();
  subProp("Color Transformer")->hide();
  subProp("Channel Name")->hide();
  subProp("Autocompute Intensity Bounds")->hide();
}

void FluidPressureDisplay::reset()
{
  MFDClass::reset();
  point_cloud_common_->reset();
}

} // namespace rviz

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS( rviz::FluidPressureDisplay, rviz::Display )
