/*
 * Software License Agreement (BSD License)
 *
 *  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 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.
 *
 * $Id: pcd_to_pointcloud.cpp 33238 2010-03-11 00:46:58Z rusu $
 *
 */

/**

\author Radu Bogdan Rusu

@b pcd_to_pointcloud is a simple node that loads PCD (Point Cloud Data) files from disk and publishes them as ROS messages on the network.

 **/

// STL
#include <chrono>
#include <thread>

// ROS core
#include <ros/ros.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>

#include "pcl_ros/publisher.hpp"

using namespace std;

class PCDGenerator
{
protected:
  string tf_frame_;
  ros::NodeHandle nh_;
  ros::NodeHandle private_nh_;

public:
  // ROS messages
  sensor_msgs::PointCloud2 cloud_;

  string file_name_, cloud_topic_;
  double wait_;

  pcl_ros::Publisher<sensor_msgs::PointCloud2> pub_;

  ////////////////////////////////////////////////////////////////////////////////
  PCDGenerator()
  : tf_frame_("/base_link"), private_nh_("~")
  {
    // Maximum number of outgoing messages to be queued for delivery to subscribers = 1

    cloud_topic_ = "cloud_pcd";
    pub_.advertise(nh_, cloud_topic_.c_str(), 1);
    private_nh_.param("frame_id", tf_frame_, std::string("/base_link"));
    ROS_INFO(
      "Publishing data on topic %s with frame_id %s.", nh_.resolveName(
        cloud_topic_).c_str(), tf_frame_.c_str());
  }

  ////////////////////////////////////////////////////////////////////////////////
  // Start
  int
  start()
  {
    if (file_name_ == "" || pcl::io::loadPCDFile(file_name_, cloud_) == -1) {
      return -1;
    }
    cloud_.header.frame_id = tf_frame_;
    return 0;
  }

  ////////////////////////////////////////////////////////////////////////////////
  // Spin (!)
  bool spin()
  {
    int nr_points = cloud_.width * cloud_.height;
    string fields_list = pcl::getFieldsList(cloud_);
    double interval = wait_ * 1e+6;
    while (nh_.ok()) {
      ROS_DEBUG_ONCE(
        "Publishing data with %d points (%s) on topic %s in frame %s.", nr_points,
        fields_list.c_str(), nh_.resolveName(cloud_topic_).c_str(), cloud_.header.frame_id.c_str());
      cloud_.header.stamp = ros::Time::now();

      if (pub_.getNumSubscribers() > 0) {
        ROS_DEBUG("Publishing data to %d subscribers.", pub_.getNumSubscribers());
        pub_.publish(cloud_);
      } else {
        // check once a second if there is any subscriber
        ros::Duration(1).sleep();
        continue;
      }

      std::this_thread::sleep_for(std::chrono::microseconds(static_cast<uint32_t>(interval)));

      if (interval == 0) {      // We only publish once if a 0 seconds interval is given
        // Give subscribers 3 seconds until point cloud decays... a little ugly!
        ros::Duration(3.0).sleep();
        break;
      }
    }
    return true;
  }


};

/* ---[ */
int
main(int argc, char ** argv)
{
  if (argc < 2) {
    std::cerr << "Syntax is: " << argv[0] << " <file.pcd> [publishing_interval (in seconds)]" <<
      std::endl;
    return -1;
  }

  ros::init(argc, argv, "pcd_to_pointcloud");

  PCDGenerator c;
  c.file_name_ = string(argv[1]);
  // check if publishing interval is given
  if (argc == 2) {
    c.wait_ = 0;
  } else {
    c.wait_ = atof(argv[2]);
  }

  if (c.start() == -1) {
    ROS_ERROR("Could not load file %s. Exiting.", argv[1]);
    return -1;
  }
  ROS_INFO(
    "Loaded a point cloud with %d points (total size is %zu) and the following channels: %s.",
    c.cloud_.width * c.cloud_.height, c.cloud_.data.size(), pcl::getFieldsList(c.cloud_).c_str());
  c.spin();

  return 0;
}
/* ]--- */