/*
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 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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 * $Id: table_objects.cpp 30899 2010-07-16 04:56:51Z rusu $
 *
 */

/**
\author Zoltan-Csaba Marton
 **/

#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <visualization_msgs/Marker.h>
#include <pcl/point_types.h>

#include <table_objects/GetObjects.h>

#include <vision_msgs/cop_answer.h>

ros::ServiceClient client;
ros::Publisher pub;
ros::Publisher pub_marker;
ros::Publisher tabletop_pub;

//for cop_answer
std::string cop_descriptor_name;
std::string aposteriori_position_name;
std::stringstream ss;
int object_id = 700000;

void callback (sensor_msgs::PointCloud2 cloud)
{
  vision_msgs::cop_answer msg;
  table_objects::GetObjects srv;
  srv.request.data = cloud;
  if (client.call(srv))
    {
      //for (std::vector<mapping_msgs::CollisionObject>::iterator it = srv.response.table_objects.begin (); it != srv.response.table_objects.end (); it++)
      for (size_t i = 0; i < srv.response.table_objects.size (); i++)
	{
	  mapping_msgs::CollisionObject obj = srv.response.table_objects[i];
	  pub.publish (obj);
	  
	  ss << i;
	  cop_descriptor_name = "cop_descriptor" + ss.str();
	  aposteriori_position_name = "aposteriori_position" + ss.str();
	  vision_msgs::cop_descriptor cop_descriptor_name;
	  vision_msgs::aposteriori_position aposteriori_position_name;
	  msg.found_poses.push_back(aposteriori_position_name);
	  msg.found_poses[i].objectId = i;
	  msg.found_poses[i].models.push_back(cop_descriptor_name);	  
	  msg.found_poses[i].models[0].type = "ODUFinder";
	  msg.found_poses[i].models[0].sem_class = obj.id;
	  msg.found_poses[i].models[0].object_id = ++object_id;
	  msg.found_poses[i].position = 0;

	  // publishing marker for checking
	  visualization_msgs::Marker marker;
	  marker.header = obj.header;
	  marker.ns = "CollisionObjects";
	  marker.id = i;
	  marker.type = visualization_msgs::Marker::CUBE;
	  marker.action = visualization_msgs::Marker::ADD;
	  marker.pose.position = obj.poses[0].position;
	  marker.pose.orientation = obj.poses[0].orientation;
	  marker.scale.x = obj.shapes[0].dimensions[0];
	  marker.scale.y = obj.shapes[0].dimensions[1];
	  marker.scale.z = obj.shapes[0].dimensions[2];
	  marker.color.a = 0.5;
	  marker.color.r = 0.5;
	  marker.color.g = 0.5;
	  marker.color.b = 0.5;
	  pub_marker.publish (marker);
	}
      ROS_INFO("Published %zu objects", srv.response.table_objects.size ());
    }
  else
    {
      ROS_ERROR("Failed to call service!");
    }
  tabletop_pub.publish(msg);
}

/* ---[ */
int
  main (int argc, char** argv)
{
  ros::init (argc, argv, "synthetic_percepts");

  ros::NodeHandle nh;

  client = nh.serviceClient<table_objects::GetObjects>("get_table_objects");
  
  pub = nh.advertise<mapping_msgs::CollisionObject> ("collison_objects", 50);
  pub_marker = nh.advertise<visualization_msgs::Marker> ("collison_object_markers", 50);
  tabletop_pub = nh.advertise<vision_msgs::cop_answer>("/synthetic_percepts/tabletop_percepts",10);

  ros::Subscriber sub = nh.subscribe("/extract_objects_indices/output", 5, callback);

  ros::spin ();

  return (0);
}