/*
 * Copyright (c) 2009, 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_CAMERA_STREAM_CAMERA_DISPLAY_H
#define RVIZ_CAMERA_STREAM_CAMERA_DISPLAY_H

#include <QObject>
#include <string>

#ifndef Q_MOC_RUN
#include <OgreMaterial.h>
#include <OgreRenderTargetListener.h>
#include <OgreSharedPtr.h>
#include <OgreTexture.h>

# include <sensor_msgs/CameraInfo.h>

# include "rviz/image/image_display_base.h"
#include <std_srvs/Trigger.h>
#endif

namespace Ogre
{
class SceneNode;
class ManualObject;
class Rectangle2D;
class Camera;
}

namespace video_export
{
class  VideoPublisher;

}

namespace rviz
{

class EnumProperty;
class FloatProperty;
class IntProperty;
class RenderPanel;
class RosTopicProperty;
class DisplayGroupVisibilityProperty;
class ColorProperty;

/**
 * \class CameraPub
 *
 */
class CameraPub: public Display, public Ogre::RenderTargetListener
{
  Q_OBJECT
public:
  CameraPub();
  virtual ~CameraPub();

  // Overrides from Display
  virtual void onInitialize();
  virtual void fixedFrameChanged();
  virtual void update(float wall_dt, float ros_dt);
  virtual void reset();

  // Overrides from Ogre::RenderTargetListener
  virtual void preRenderTargetUpdate(const Ogre::RenderTargetEvent& evt);
  virtual void postRenderTargetUpdate(const Ogre::RenderTargetEvent& evt);

  static const QString BACKGROUND;
  static const QString OVERLAY;
  static const QString BOTH;

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

private Q_SLOTS:
  void forceRender();

  void updateTopic();
  virtual void updateQueueSize();
  virtual void updateFrameRate();
  virtual void updateBackgroundColor();
  virtual void updateDisplayNamespace();
  virtual void updateImageEncoding();
  virtual void updateNearClipDistance();

private:
  std::string camera_trigger_name_;
  ros::NodeHandle nh_;

  void subscribe();
  void unsubscribe();

  ros::ServiceServer trigger_service_;
  bool triggerCallback(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res);
  bool trigger_activated_ = false;
  ros::Time last_image_publication_time_ = ros::Time(0);

  void caminfoCallback(const sensor_msgs::CameraInfo::ConstPtr& msg);

  bool updateCamera();

  void clear();
  void updateStatus();

  ros::Subscriber caminfo_sub_;

  RosTopicProperty* topic_property_;
  RosTopicProperty* camera_info_property_;
  DisplayGroupVisibilityProperty* visibility_property_;
  IntProperty* queue_size_property_;
  StringProperty* namespace_property_;

  FloatProperty* frame_rate_property_;
  ColorProperty* background_color_property_;
  EnumProperty* image_encoding_property_;
  FloatProperty* near_clip_property_;

  sensor_msgs::CameraInfo::ConstPtr current_caminfo_;
  boost::mutex caminfo_mutex_;

  bool new_caminfo_ = false;

  bool caminfo_ok_ = false;

  bool force_render_ = false;

  static inline int count_ = 0;

  // the system timestamp
  double timestamp;

  uint32_t vis_bit_;

  video_export::VideoPublisher* video_publisher_ = nullptr;

  // render to texture
  // from http://www.ogre3d.org/tikiwiki/tiki-index.php?page=Intermediate+Tutorial+7
  Ogre::Camera* camera_;
  Ogre::TexturePtr rtt_texture_;
  Ogre::RenderTexture* render_texture_;
};

}  // namespace rviz

#endif  // RVIZ_CAMERA_STREAM_CAMERA_DISPLAY_H