// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// 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.
//
// 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
// HOLDER 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 "robot_laser.h"

#include "g2o/stuff/macros.h"

#ifdef G2O_HAVE_OPENGL
#include "g2o/stuff/opengl_wrapper.h"
#endif

#include <iomanip>
using namespace std;

namespace g2o {

RobotLaser::RobotLaser()
    : RawLaser(),
      _laserTv(0.),
      _laserRv(0.),
      _forwardSafetyDist(0.),
      _sideSafetyDist(0.),
      _turnAxis(0.) {}

RobotLaser::~RobotLaser() {}

bool RobotLaser::read(std::istream& is) {
  int type;
  double angle, fov, res, maxrange, acc;
  int remission_mode;
  is >> type >> angle >> fov >> res >> maxrange >> acc >> remission_mode;

  int beams;
  is >> beams;
  _laserParams =
      LaserParameters(type, beams, angle, res, maxrange, acc, remission_mode);
  _ranges.resize(beams);
  for (int i = 0; i < beams; i++) is >> _ranges[i];

  is >> beams;
  _remissions.resize(beams);
  for (int i = 0; i < beams; i++) is >> _remissions[i];

  // special robot laser stuff
  double x, y, theta;
  is >> x >> y >> theta;
  SE2 lp(x, y, theta);
  is >> x >> y >> theta;
  _odomPose = SE2(x, y, theta);
  _laserParams.laserPose = _odomPose.inverse() * lp;
  is >> _laserTv >> _laserRv >> _forwardSafetyDist >> _sideSafetyDist >>
      _turnAxis;

  // timestamp + host
  is >> _timestamp;
  is >> _hostname;
  is >> _loggerTimestamp;
  return true;
}

bool RobotLaser::write(std::ostream& os) const {
  os << _laserParams.type << " " << _laserParams.firstBeamAngle << " "
     << _laserParams.fov << " " << _laserParams.angularStep << " "
     << _laserParams.maxRange << " " << _laserParams.accuracy << " "
     << _laserParams.remissionMode << " ";
  os << ranges().size();
  for (size_t i = 0; i < ranges().size(); ++i) os << " " << ranges()[i];
  os << " " << _remissions.size();
  for (size_t i = 0; i < _remissions.size(); ++i) os << " " << _remissions[i];

  // odometry pose
  Vector3 p = (_odomPose * _laserParams.laserPose).toVector();
  os << " " << p.x() << " " << p.y() << " " << p.z();
  p = _odomPose.toVector();
  os << " " << p.x() << " " << p.y() << " " << p.z();

  // crap values
  os << FIXED(" " << _laserTv << " " << _laserRv << " " << _forwardSafetyDist
                  << " " << _sideSafetyDist << " " << _turnAxis);
  os << FIXED(" " << timestamp() << " " << hostname() << " "
                  << loggerTimestamp());

  return os.good();
}

void RobotLaser::setOdomPose(const SE2& odomPose) { _odomPose = odomPose; }

#ifdef G2O_HAVE_OPENGL
RobotLaserDrawAction::RobotLaserDrawAction()
    : DrawAction(typeid(RobotLaser).name()),
      _beamsDownsampling(nullptr),
      _pointSize(nullptr),
      _maxRange(nullptr) {}

bool RobotLaserDrawAction::refreshPropertyPtrs(
    HyperGraphElementAction::Parameters* params_) {
  if (!DrawAction::refreshPropertyPtrs(params_)) return false;
  if (_previousParams) {
    _beamsDownsampling = _previousParams->makeProperty<IntProperty>(
        _typeName + "::BEAMS_DOWNSAMPLING", 1);
    _pointSize = _previousParams->makeProperty<FloatProperty>(
        _typeName + "::POINT_SIZE", 1.0f);
    _maxRange = _previousParams->makeProperty<FloatProperty>(
        _typeName + "::MAX_RANGE", -1.);
  } else {
    _beamsDownsampling = 0;
    _pointSize = 0;
    _maxRange = 0;
  }
  return true;
}

HyperGraphElementAction* RobotLaserDrawAction::operator()(
    HyperGraph::HyperGraphElement* element,
    HyperGraphElementAction::Parameters* params_) {
  if (typeid(*element).name() != _typeName) return nullptr;

  refreshPropertyPtrs(params_);
  if (!_previousParams) {
    return this;
  }
  if (_show && !_show->value()) return this;
  RobotLaser* that = static_cast<RobotLaser*>(element);

  RawLaser::Point2DVector points = that->cartesian();
  if (_maxRange && _maxRange->value() >= 0) {
    // prune the cartesian points;
    RawLaser::Point2DVector npoints(points.size());
    int k = 0;
    auto r2 = std::pow(_maxRange->value(), 2);
    for (size_t i = 0; i < points.size(); i++) {
      if (points[i].squaredNorm() < r2) npoints[k++] = points[i];
    }
    points = npoints;
    npoints.resize(k);
  }

  glPushMatrix();
  const SE2& laserPose = that->laserParams().laserPose;
  glTranslatef((float)laserPose.translation().x(),
               (float)laserPose.translation().y(), 0.f);
  glRotatef((float)RAD2DEG(laserPose.rotation().angle()), 0.f, 0.f, 1.f);
  glColor4f(1.f, 0.f, 0.f, 0.5f);
  int step = 1;
  if (_beamsDownsampling) step = _beamsDownsampling->value();
  if (_pointSize) {
    glPointSize(_pointSize->value());
  }

  glBegin(GL_POINTS);
  for (size_t i = 0; i < points.size(); i += step) {
    glVertex3f((float)points[i].x(), (float)points[i].y(), 0.f);
  }
  glEnd();
  glPopMatrix();

  return this;
}
#endif

}  // namespace g2o
