/*
 * 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 <OGRE/OgreManualObject.h>
#include <OGRE/OgreSceneManager.h>
#include <OGRE/OgreSceneNode.h>

#include <rviz/display_context.h>
#include <rviz/frame_manager.h>
#include <rviz/properties/enum_property.h>
#include <rviz/properties/color_property.h>
#include <rviz/properties/float_property.h>
#include <rviz/validate_floats.h>
#include <rviz/validate_quaternions.h>
#include <rviz/ogre_helpers/arrow.h>
#include <rviz/ogre_helpers/axes.h>

#include <rviz/default_plugin/pose_array_display.h>

namespace rviz
{
namespace
{
struct ShapeType
{
  enum
  {
    Arrow2d,
    Arrow3d,
    Axes,
  };
};

Ogre::Vector3 vectorRosToOgre(geometry_msgs::Point const& point)
{
  return Ogre::Vector3(point.x, point.y, point.z);
}

Ogre::Quaternion quaternionRosToOgre(geometry_msgs::Quaternion const& quaternion)
{
  Ogre::Quaternion q;
  normalizeQuaternion(quaternion, q);
  return q;
}
} // namespace

PoseArrayDisplay::PoseArrayDisplay() : manual_object_(nullptr)
{
  shape_property_ = new EnumProperty("Shape", "Arrow (Flat)", "Shape to display the pose as.", this,
                                     SLOT(updateShapeChoice()));

  arrow_color_property_ = new ColorProperty("Color", QColor(255, 25, 0), "Color to draw the arrows.",
                                            this, SLOT(updateArrowColor()));

  arrow_alpha_property_ =
      new FloatProperty("Alpha", 1, "Amount of transparency to apply to the displayed poses.", this,
                        SLOT(updateArrowColor()));

  arrow2d_length_property_ = new FloatProperty("Arrow Length", 0.3, "Length of the arrows.", this,
                                               SLOT(updateArrow2dGeometry()));

  arrow3d_head_radius_property_ =
      new FloatProperty("Head Radius", 0.03, "Radius of the arrow's head, in meters.", this,
                        SLOT(updateArrow3dGeometry()));

  arrow3d_head_length_property_ =
      new FloatProperty("Head Length", 0.07, "Length of the arrow's head, in meters.", this,
                        SLOT(updateArrow3dGeometry()));

  arrow3d_shaft_radius_property_ =
      new FloatProperty("Shaft Radius", 0.01, "Radius of the arrow's shaft, in meters.", this,
                        SLOT(updateArrow3dGeometry()));

  arrow3d_shaft_length_property_ =
      new FloatProperty("Shaft Length", 0.23, "Length of the arrow's shaft, in meters.", this,
                        SLOT(updateArrow3dGeometry()));

  axes_length_property_ = new FloatProperty("Axes Length", 0.3, "Length of each axis, in meters.", this,
                                            SLOT(updateAxesGeometry()));

  axes_radius_property_ = new FloatProperty("Axes Radius", 0.01, "Radius of each axis, in meters.", this,
                                            SLOT(updateAxesGeometry()));

  shape_property_->addOption("Arrow (Flat)", ShapeType::Arrow2d);
  shape_property_->addOption("Arrow (3D)", ShapeType::Arrow3d);
  shape_property_->addOption("Axes", ShapeType::Axes);
  arrow_alpha_property_->setMin(0);
  arrow_alpha_property_->setMax(1);
}

PoseArrayDisplay::~PoseArrayDisplay()
{
  if (initialized())
  {
    scene_manager_->destroyManualObject(manual_object_);
  }
}

void PoseArrayDisplay::onInitialize()
{
  MFDClass::onInitialize();
  manual_object_ = scene_manager_->createManualObject();
  manual_object_->setDynamic(true);
  scene_node_->attachObject(manual_object_);
  arrow_node_ = scene_node_->createChildSceneNode();
  axes_node_ = scene_node_->createChildSceneNode();
  updateShapeChoice();
}

bool validateFloats(const geometry_msgs::PoseArray& msg)
{
  return validateFloats(msg.poses);
}

void PoseArrayDisplay::processMessage(const geometry_msgs::PoseArray::ConstPtr& msg)
{
  if (!validateFloats(*msg))
  {
    setStatus(StatusProperty::Error, "Topic",
              "Message contained invalid floating point values (nans or infs)");
    return;
  }

  if (!validateQuaternions(msg->poses))
  {
    ROS_WARN_ONCE_NAMED("quaternions",
                        "PoseArray msg received on topic '%s' contains unnormalized quaternions. "
                        "This warning will only be output once but may be true for others; "
                        "enable DEBUG messages for ros.rviz.quaternions to see more details.",
                        topic_property_->getTopicStd().c_str());
    ROS_DEBUG_NAMED("quaternions",
                    "PoseArray msg received on topic '%s' contains unnormalized quaternions.",
                    topic_property_->getTopicStd().c_str());
  }

  if (!setTransform(msg->header))
  {
    setStatus(StatusProperty::Error, "Topic", "Failed to look up transform");
    return;
  }

  poses_.resize(msg->poses.size());
  for (std::size_t i = 0; i < msg->poses.size(); ++i)
  {
    poses_[i].position = vectorRosToOgre(msg->poses[i].position);
    poses_[i].orientation = quaternionRosToOgre(msg->poses[i].orientation);
  }

  updateDisplay();
  context_->queueRender();
}

bool PoseArrayDisplay::setTransform(std_msgs::Header const& header)
{
  Ogre::Vector3 position;
  Ogre::Quaternion orientation;
  if (!context_->getFrameManager()->getTransform(header, position, orientation))
  {
    ROS_ERROR("Error transforming pose '%s' from frame '%s' to frame '%s'", qPrintable(getName()),
              header.frame_id.c_str(), qPrintable(fixed_frame_));
    return false;
  }
  scene_node_->setPosition(position);
  scene_node_->setOrientation(orientation);
  return true;
}

void PoseArrayDisplay::updateArrows2d()
{
  manual_object_->clear();

  Ogre::ColourValue color = arrow_color_property_->getOgreColor();
  color.a = arrow_alpha_property_->getFloat();
  float length = arrow2d_length_property_->getFloat();
  size_t num_poses = poses_.size();
  manual_object_->estimateVertexCount(num_poses * 6);
  manual_object_->begin("BaseWhiteNoLighting", Ogre::RenderOperation::OT_LINE_LIST,
                        Ogre::ResourceGroupManager::INTERNAL_RESOURCE_GROUP_NAME);
  for (size_t i = 0; i < num_poses; ++i)
  {
    const Ogre::Vector3& pos = poses_[i].position;
    const Ogre::Quaternion& orient = poses_[i].orientation;
    Ogre::Vector3 vertices[6];
    vertices[0] = pos;                                        // back of arrow
    vertices[1] = pos + orient * Ogre::Vector3(length, 0, 0); // tip of arrow
    vertices[2] = vertices[1];
    vertices[3] = pos + orient * Ogre::Vector3(0.75 * length, 0.2 * length, 0);
    vertices[4] = vertices[1];
    vertices[5] = pos + orient * Ogre::Vector3(0.75 * length, -0.2 * length, 0);

    for (int i = 0; i < 6; ++i)
    {
      manual_object_->position(vertices[i]);
      manual_object_->colour(color);
    }
  }
  manual_object_->end();
}

void PoseArrayDisplay::updateDisplay()
{
  int shape = shape_property_->getOptionInt();
  switch (shape)
  {
  case ShapeType::Arrow2d:
    updateArrows2d();
    arrows3d_.clear();
    axes_.clear();
    break;
  case ShapeType::Arrow3d:
    updateArrows3d();
    manual_object_->clear();
    axes_.clear();
    break;
  case ShapeType::Axes:
    updateAxes();
    manual_object_->clear();
    arrows3d_.clear();
    break;
  }
}

void PoseArrayDisplay::updateArrows3d()
{
  while (arrows3d_.size() < poses_.size())
    arrows3d_.push_back(makeArrow3d());
  while (arrows3d_.size() > poses_.size())
    arrows3d_.pop_back();

  Ogre::Quaternion adjust_orientation(Ogre::Degree(-90), Ogre::Vector3::UNIT_Y);
  for (std::size_t i = 0; i < poses_.size(); ++i)
  {
    arrows3d_[i].setPosition(poses_[i].position);
    arrows3d_[i].setOrientation(poses_[i].orientation * adjust_orientation);
  }
}

void PoseArrayDisplay::updateAxes()
{
  while (axes_.size() < poses_.size())
    axes_.push_back(makeAxes());
  while (axes_.size() > poses_.size())
    axes_.pop_back();
  for (std::size_t i = 0; i < poses_.size(); ++i)
  {
    axes_[i].setPosition(poses_[i].position);
    axes_[i].setOrientation(poses_[i].orientation);
  }
}

Arrow* PoseArrayDisplay::makeArrow3d()
{
  Ogre::ColourValue color = arrow_color_property_->getOgreColor();
  color.a = arrow_alpha_property_->getFloat();

  Arrow* arrow =
      new Arrow(scene_manager_, arrow_node_, arrow3d_shaft_length_property_->getFloat(),
                arrow3d_shaft_radius_property_->getFloat(), arrow3d_head_length_property_->getFloat(),
                arrow3d_head_radius_property_->getFloat());

  arrow->setColor(color);
  return arrow;
}

Axes* PoseArrayDisplay::makeAxes()
{
  return new Axes(scene_manager_, axes_node_, axes_length_property_->getFloat(),
                  axes_radius_property_->getFloat());
}

void PoseArrayDisplay::reset()
{
  MFDClass::reset();
  if (manual_object_)
  {
    manual_object_->clear();
  }
  arrows3d_.clear();
  axes_.clear();
}

void PoseArrayDisplay::updateShapeChoice()
{
  int shape = shape_property_->getOptionInt();
  bool use_arrow2d = shape == ShapeType::Arrow2d;
  bool use_arrow3d = shape == ShapeType::Arrow3d;
  bool use_arrow = use_arrow2d || use_arrow3d;
  bool use_axes = shape == ShapeType::Axes;

  arrow_color_property_->setHidden(!use_arrow);
  arrow_alpha_property_->setHidden(!use_arrow);

  arrow2d_length_property_->setHidden(!use_arrow2d);

  arrow3d_shaft_length_property_->setHidden(!use_arrow3d);
  arrow3d_shaft_radius_property_->setHidden(!use_arrow3d);
  arrow3d_head_length_property_->setHidden(!use_arrow3d);
  arrow3d_head_radius_property_->setHidden(!use_arrow3d);

  axes_length_property_->setHidden(!use_axes);
  axes_radius_property_->setHidden(!use_axes);

  if (initialized())
    updateDisplay();
}

void PoseArrayDisplay::updateArrowColor()
{
  int shape = shape_property_->getOptionInt();
  Ogre::ColourValue color = arrow_color_property_->getOgreColor();
  color.a = arrow_alpha_property_->getFloat();

  if (shape == ShapeType::Arrow2d)
  {
    updateArrows2d();
  }
  else if (shape == ShapeType::Arrow3d)
  {
    for (std::size_t i = 0; i < arrows3d_.size(); ++i)
    {
      arrows3d_[i].setColor(color);
    }
  }
  context_->queueRender();
}

void PoseArrayDisplay::updateArrow2dGeometry()
{
  updateArrows2d();
  context_->queueRender();
}

void PoseArrayDisplay::updateArrow3dGeometry()
{
  for (std::size_t i = 0; i < poses_.size(); ++i)
  {
    arrows3d_[i].set(arrow3d_shaft_length_property_->getFloat(),
                     arrow3d_shaft_radius_property_->getFloat(),
                     arrow3d_head_length_property_->getFloat(),
                     arrow3d_head_radius_property_->getFloat());
  }
  context_->queueRender();
}

void PoseArrayDisplay::updateAxesGeometry()
{
  for (std::size_t i = 0; i < poses_.size(); ++i)
  {
    axes_[i].set(axes_length_property_->getFloat(), axes_radius_property_->getFloat());
  }
  context_->queueRender();
}

} // namespace rviz

#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(rviz::PoseArrayDisplay, rviz::Display)
