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/**
* \brief Visualization on rviz related functions.
* \file representation_rviz.cpp
* \author Diogo Matos
* \date June 2013
*/

#include "representation_rviz.h"

vector<visualization_msgs::Marker> create_Markers_ElavationMap(Navigability_Map& nav_map, std::string grid_frame)
{
	static Markers marker_list;
	grid_nodePtr node_data;
	double Zmin=nav_map.Zmin_filter;
	double Zmax=nav_map.Zmax_filter;
	int colorrange=nav_map.colorrange;
	
	//Reduce the elements status, ADD to REMOVE and REMOVE to delete
	marker_list.decrement();
	
	// Create a colormap
	
	class_colormap colormap_positive("jet",colorrange, 1, false);
	class_colormap colormap_negative("pink",colorrange, 1, false);
	
	/***** Elevation Cell *****/
	visualization_msgs::Marker marker_cell;
	
	marker_cell.header.frame_id = grid_frame;
    marker_cell.header.stamp = ros::Time::now();;
	marker_cell.ns = "elvation_cell";
	marker_cell.action = visualization_msgs::Marker::ADD;
	marker_cell.type = visualization_msgs::Marker::CUBE;
	marker_cell.pose.orientation.x = 0;	marker_cell.pose.orientation.y = 0.0;	marker_cell.pose.orientation.z = 0;	marker_cell.pose.orientation.w = 1;
	
	marker_cell.scale.x = nav_map.Sx;
	marker_cell.scale.y = nav_map.Sy;

	geometry_msgs::Point p;
	
	/***** Confidence Cell *****/
	visualization_msgs::Marker marker_text;
	
	marker_text.header.frame_id = grid_frame;
    marker_text.header.stamp = ros::Time::now();;
	marker_text.ns = "confidence_cell";
	marker_text.action = visualization_msgs::Marker::ADD;
	marker_text.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
	marker_text.scale.x = 0.07;
	marker_text.scale.y = 0.07;
	marker_text.scale.z = 0.07;
	marker_text.color.a = 1.0;    
    marker_text.color.r = 0.0;   
    marker_text.color.g = 0.0;
    marker_text.color.b = 0.0;
	
	
	uint counter=0;
	for(uint row=0;row<nav_map.grid.rows();row++)
	{
		//X posistion
		p.x = row*nav_map.Sx+nav_map.Sx/2;
		
		for(uint col=0;col<nav_map.grid.cols();col++)
		{
			
			node_data = nav_map.grid(row,col);
			
			if (node_data->num_points>0 || node_data->interpolate_z_data) //node is occupied
			{
				//id
				marker_cell.id = counter;
				
				//Y position
				p.y = col*nav_map.Sy-nav_map.CARaxis_col*nav_map.Sy;
				
				//Scale and Color
				
				p.z= node_data->Zmed/2;
				marker_cell.scale.z = node_data->Zmed;
				
				//color
				if (node_data->Zmed>=0 )
					marker_cell.color = colormap_positive.color((colorrange*node_data->Zmed)/Zmax);
				else
					marker_cell.color =colormap_positive.color((colorrange*abs(node_data->Zmed))/abs(Zmin));				
					
				//set cell pos
				marker_cell.pose.position=p;
				
				//update marker
				marker_list.update(marker_cell);
					
				/****** Text Confidence cell *****/

				//id
				marker_text.id = counter;
				
				//position
				marker_text.pose.position.x = p.x;
				marker_text.pose.position.y = p.y;
				if (p.z>=0)
					marker_text.pose.position.z = node_data->Zmed+0.05; 
				else
					marker_text.pose.position.z = 0.05; 
				
				//text
				boost::format fm("%d");
				fm % node_data->Z_confidence;
// 				fm % node_data->angle_confidence_y;
// 				fm % node_data->Zmed;
				marker_text.text = fm.str();
				
				//update marker
// 				marker_list.update(marker_text);

				
				
			}	
			counter++;
		}
	}

	//Remove markers that should not be transmitted
	marker_list.clean();
	
	//Clean the marker_vector and put new markers in it;
	return marker_list.getOutgoingMarkers();
}



visualization_msgs::Marker create_Markers_Normals(Navigability_Map& nav_map, std::string grid_frame)
{
	grid_nodePtr node_data;
	double px_aux=0;
	double py_aux=0;
	double pz_aux=0;
	//publish a marker to rviz with the normals
	visualization_msgs::Marker mk; //declare the array
	
	geometry_msgs::Point p;
	std_msgs::ColorRGBA color;

	mk.header.frame_id = grid_frame; mk.header.stamp = ros::Time::now();	mk.ns = "normals";
	mk.action = visualization_msgs::Marker::ADD;	mk.type = visualization_msgs::Marker::LINE_LIST; mk.id = 0;
	mk.pose.position.x = 0; mk.pose.position.y = 0; mk.pose.position.z = 0;
	mk.pose.orientation.x = 0;	mk.pose.orientation.y = 0;	mk.pose.orientation.z = 0;	mk.pose.orientation.w = 1;
	mk.scale.x = 0.01; mk.scale.y = 0.01; mk.scale.z = 0;
	mk.color.r = 0.7; mk.color.g = 0; mk.color.b = 0; mk.color.a = 1;

	for(uint row=0;row<nav_map.grid.rows();row++)
	{
		for(uint col=0;col<nav_map.grid.cols();col++)
		{
			node_data = nav_map.grid(row,col);
			
			if (node_data->has_normal) //node has_normal 
			{
				//X posistion
				p.x = row*nav_map.Sx+nav_map.Sx/2;
				px_aux = p.x;
				
				//Y position
				p.y = col*nav_map.Sy-nav_map.CARaxis_col*nav_map.Sy;
				py_aux = p.y;
				
				//Z posistion
				p.z= node_data->Zmed;
				if (p.z>=0)
					pz_aux=p.z; 
				else
				{
					p.z =0;
					pz_aux = 0; 
				}
					
				mk.points.push_back(p);	

				double rat=0.5;

				p.x = px_aux + (cos(node_data->med_angle_X))*rat;
				p.y = py_aux + (cos(node_data->med_angle_Y))*rat;
				p.z = pz_aux + (cos(node_data->med_angle_Z))*rat;
		
				mk.points.push_back(p);	
			}
		}
	}
	
	return mk;
}

vector<visualization_msgs::Marker> create_Markers_AccessibilityMap(Navigability_Map& nav_map, std::string grid_frame)
{
	static Markers marker_list;
	grid_nodePtr node_data;

	int colorrange=nav_map.colorrange;
	
	//Reduce the elements status, ADD to REMOVE and REMOVE to delete
	marker_list.decrement();
	
	// Create a colormap
	
	class_colormap colormap_positive("jet",colorrange, 1, false);
	
	/***** _Accessibility Cell *****/
	visualization_msgs::Marker marker_cell;
	
	marker_cell.header.frame_id = grid_frame;
    marker_cell.header.stamp = ros::Time::now();;
	marker_cell.ns = "accessibility_cell";
	marker_cell.action = visualization_msgs::Marker::ADD;
	marker_cell.type = visualization_msgs::Marker::CUBE;
	marker_cell.pose.orientation.x = 0;	marker_cell.pose.orientation.y = 0.0;	marker_cell.pose.orientation.z = 0;	marker_cell.pose.orientation.w = 1;
	
	marker_cell.scale.x = nav_map.Sx;
	marker_cell.scale.y = nav_map.Sy;

	geometry_msgs::Point p;
	
	
	/***** debug Cell *****/
	visualization_msgs::Marker marker_text;
	
	marker_text.header.frame_id = grid_frame;
    marker_text.header.stamp = ros::Time::now();;
	marker_text.ns = "debug_cell";
	marker_text.action = visualization_msgs::Marker::ADD;
	marker_text.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
	marker_text.scale.x = 0.07;
	marker_text.scale.y = 0.07;
	marker_text.scale.z = 0.07;
	marker_text.color.a = 1.0;    
    marker_text.color.r = 0.0;   
    marker_text.color.g = 0.0;
    marker_text.color.b = 0.0;
	
	
	uint counter=0;
	for(uint row=0;row<nav_map.grid.rows();row++)
	{
		//X posistion
		p.x = row*nav_map.Sx+nav_map.Sx/2;
		
		for(uint col=0;col<nav_map.grid.cols();col++)
		{
			
			node_data = nav_map.grid(row,col);
			
			if (node_data->num_points>0 || node_data->interpolate_z_data) //node is occupied
			{
				//id
				marker_cell.id = counter;
				
				//Y position
				p.y = col*nav_map.Sy-nav_map.CARaxis_col*nav_map.Sy;
				
// 				Scale and Color
				if (nav_map.debug_accessibility==1)
					p.z=(1-node_data->z_accessibility)/2;
				else if (nav_map.debug_accessibility==2)
					p.z=(1-node_data->angleX_accessibility)/2;
				else if (nav_map.debug_accessibility==3)
					p.z=(1-node_data->angleY_accessibility)/2;
				else if (nav_map.debug_accessibility==4)
					p.z=(1-node_data->angleZ_accessibility)/2;
				else if (nav_map.debug_accessibility==5)
					p.z=(1-node_data->total_accessibility)/2;
				
				if (nav_map.debug_accessibility==1)
					marker_cell.scale.z =1-node_data->z_accessibility;
				else if (nav_map.debug_accessibility==2)
					marker_cell.scale.z =1-node_data->angleX_accessibility;
				else if (nav_map.debug_accessibility==3)
					marker_cell.scale.z =1-node_data->angleY_accessibility;
				else if (nav_map.debug_accessibility==4)
					marker_cell.scale.z =1-node_data->angleZ_accessibility;
				else if (nav_map.debug_accessibility==5)
					marker_cell.scale.z =1-node_data->total_accessibility;
				
				//color
				if (nav_map.debug_accessibility==1)
					marker_cell.color = colormap_positive.color(colorrange*(1-node_data->z_accessibility)-1);
				else if (nav_map.debug_accessibility==2)
					marker_cell.color = colormap_positive.color(colorrange*(1-node_data->angleX_accessibility)-1);
				else if (nav_map.debug_accessibility==3)
					marker_cell.color = colormap_positive.color(colorrange*(1-node_data->angleY_accessibility)-1);
				else if (nav_map.debug_accessibility==4)
					marker_cell.color = colormap_positive.color(colorrange*(1-node_data->angleZ_accessibility)-1);
				else if (nav_map.debug_accessibility==5)
					marker_cell.color = colormap_positive.color(colorrange*(1-node_data->total_accessibility)-1);

				
				//set cell pos
				marker_cell.pose.position=p;
				
				//update marker
				marker_list.update(marker_cell);
				
				
				/******  debug Confidence cell *****/
// 				id
				marker_text.id = counter;
				
				//position
				marker_text.pose.position.x = p.x;
				marker_text.pose.position.y = p.y;
				
				if (nav_map.debug_accessibility==1)
					marker_text.pose.position.z = (1-node_data->z_accessibility)+0.1; 
				else if (nav_map.debug_accessibility==2)
					marker_text.pose.position.z = (1-node_data->angleX_accessibility)+0.1; 
				else if (nav_map.debug_accessibility==3)
					marker_text.pose.position.z = (1-node_data->angleY_accessibility)+0.1; 
				else if (nav_map.debug_accessibility==4)
					marker_text.pose.position.z = (1-node_data->angleZ_accessibility)+0.1; 
				else if (nav_map.debug_accessibility==5)
					marker_text.pose.position.z = (1-node_data->total_accessibility)+0.1;
				
				//text
				boost::format fm("%d");
				if (nav_map.debug_accessibility==1)
					fm % node_data->z_accessibility;
				else if (nav_map.debug_accessibility==2)
					fm % node_data->angleX_accessibility;
				else if (nav_map.debug_accessibility==3)
					fm % node_data->angleY_accessibility;
				else if (nav_map.debug_accessibility==4)
					fm % node_data->angleZ_accessibility;
				else if (nav_map.debug_accessibility==5)
					fm % node_data->total_accessibility;
			
				marker_text.text = fm.str();
				//update marker
// 				marker_list.update(marker_text);
				
			}
			counter++;
		}	
	}

	//Remove markers that should not be transmitted
	marker_list.clean();
	
	//Clean the marker_vector and put new markers in it;
	return marker_list.getOutgoingMarkers();	
}



visualization_msgs::Marker create_Markers_Polygon(Navigability_Map& nav_map, std::string grid_frame)
{
	//publish a marker to rviz with the polygon
	visualization_msgs::Marker mk; //declare the array
	
	std_msgs::ColorRGBA color;

	mk.header.frame_id = grid_frame; mk.header.stamp = ros::Time::now();	mk.ns = "polygon";
	mk.action = visualization_msgs::Marker::ADD;	mk.type = visualization_msgs::Marker::LINE_STRIP; mk.id = 0;
	mk.pose.position.x = 0; mk.pose.position.y = 0; mk.pose.position.z = 0;
	mk.pose.orientation.x = 0;	mk.pose.orientation.y = 0;	mk.pose.orientation.z = 0;	mk.pose.orientation.w = 1;
	mk.scale.x = 0.08; mk.scale.y = 0.01; mk.scale.z = 0;
	mk.color.r = 0; mk.color.g = 0.6; mk.color.b = 0; mk.color.a = 1;

	
	for (uint i=0; i<nav_map.polygon_points.size(); i++)
		mk.points.push_back(nav_map.polygon_points[i]);	
	
	nav_map.polygon_points.erase(nav_map.polygon_points.begin(),nav_map.polygon_points.end());
	return mk;
}

visualization_msgs::Marker create_Markers_Obstacle(Navigability_Map& nav_map, std::string grid_frame)
{
	//publish a marker to rviz with the polygon
	visualization_msgs::Marker mk; //declare the array
	
	std_msgs::ColorRGBA color;

	mk.header.frame_id = grid_frame; mk.header.stamp = ros::Time::now();	mk.ns = "polygon_obstacle";
	mk.action = visualization_msgs::Marker::ADD;	mk.type = visualization_msgs::Marker::LINE_STRIP; mk.id = 0;
	mk.pose.position.x = 0; mk.pose.position.y = 0; mk.pose.position.z = 0;
	mk.pose.orientation.x = 0;	mk.pose.orientation.y = 0;	mk.pose.orientation.z = 0;	mk.pose.orientation.w = 1;
	mk.scale.x = 0.08; mk.scale.y = 0.01; mk.scale.z = 0;
	mk.color.r = 1; mk.color.g = 0; mk.color.b = 0; mk.color.a = 1;

	
	for (uint i=0; i<nav_map.obstacle_points.size(); i++)
		mk.points.push_back(nav_map.obstacle_points[i]);	
	
	nav_map.obstacle_points.erase(nav_map.obstacle_points.begin(),nav_map.obstacle_points.end());
	return mk;
}