/*
 * 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.
 */

#ifndef RVIZ_TF_DISPLAY_H
#define RVIZ_TF_DISPLAY_H

#include <map>
#include <set>

#include <OgreQuaternion.h>
#include <OgreVector3.h>

#include "rviz/selection/forwards.h"

#include "rviz/display.h"

namespace Ogre
{
class SceneNode;
}

namespace rviz
{
class Arrow;
class Axes;
class BoolProperty;
class FloatProperty;
class MovableText;
class QuaternionProperty;
class StringProperty;
class VectorProperty;

class FrameInfo;
class FrameSelectionHandler;
typedef boost::shared_ptr<FrameSelectionHandler> FrameSelectionHandlerPtr;

/** @brief Displays a visual representation of the TF hierarchy. */
class TFDisplay: public Display
{
Q_OBJECT
public:
  TFDisplay();
  virtual ~TFDisplay();

  virtual void update(float wall_dt, float ros_dt);

protected:
  // Overrides from Display
  virtual void onInitialize();
  virtual void load(const Config& config);
  virtual void fixedFrameChanged();
  virtual void reset();

private Q_SLOTS:
  void updateShowAxes();
  void updateShowArrows();
  void updateShowNames();
  void allEnabledChanged();

private:
  typedef std::map<std::string, FrameInfo*> M_FrameInfo;

  void updateFrames();
  FrameInfo* createFrame(const std::string& frame);
  void updateFrame(FrameInfo* frame);
  M_FrameInfo::iterator deleteFrame(M_FrameInfo::iterator it, bool delete_properties);

  FrameInfo* getFrameInfo(const std::string& frame);

  void clear();

  // overrides from Display
  virtual void onEnable();
  virtual void onDisable();

  Ogre::SceneNode* root_node_;
  Ogre::SceneNode* names_node_;
  Ogre::SceneNode* arrows_node_;
  Ogre::SceneNode* axes_node_;

  M_FrameInfo frames_;

  typedef std::map<std::string, bool> M_EnabledState;
  M_EnabledState frame_config_enabled_state_;

  float update_timer_;

  BoolProperty* show_names_property_;
  BoolProperty* show_arrows_property_;
  BoolProperty* show_axes_property_;
  FloatProperty* update_rate_property_;
  FloatProperty* frame_timeout_property_;
  BoolProperty* all_enabled_property_;

  FloatProperty* scale_property_;

  Property* frames_category_;
  Property* tree_category_;

  bool changing_single_frame_enabled_state_;
  friend class FrameInfo;
};

/** @brief Internal class needed only by TFDisplay. */
class FrameInfo: public QObject
{
  Q_OBJECT
  public:
  FrameInfo( TFDisplay* display );

  /** @brief Set this frame to be visible or invisible. */
  void setEnabled( bool enabled );

public Q_SLOTS:
  /** @brief Update whether the frame is visible or not, based on the enabled_property_ in this FrameInfo. */
  void updateVisibilityFromFrame();

  /** @brief Update whether the frame is visible or not, based on the enabled_property_ in the selection handler. */
  void updateVisibilityFromSelection();

public:
  TFDisplay* display_;
  std::string name_;
  std::string parent_;
  Axes* axes_;
  CollObjectHandle axes_coll_;
  FrameSelectionHandlerPtr selection_handler_;
  Arrow* parent_arrow_;
  MovableText* name_text_;
  Ogre::SceneNode* name_node_;

  float distance_to_parent_;
  Ogre::Quaternion arrow_orientation_;

  ros::Time last_update_;
  ros::Time last_time_to_fixed_;

  VectorProperty* rel_position_property_;
  QuaternionProperty* rel_orientation_property_;
  VectorProperty* position_property_;
  QuaternionProperty* orientation_property_;
  StringProperty* parent_property_;
  BoolProperty* enabled_property_;

  Property* tree_property_;
};

} // end namespace rviz

#endif // RVIZ_TF_DISPLAY_H
