#include <stdio.h>
#include <vector>
#include <math.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>
#include <numeric>

#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <interactive_markers/interactive_marker_server.h>
#include <interactive_markers/menu_handler.h>
#include <boost/lexical_cast.hpp>
#include <boost/format.hpp>
#include "std_msgs/String.h"
#include <mtt/TargetList.h>

//namepaces
using namespace visualization_msgs;

// Global Vars
boost::shared_ptr<interactive_markers::InteractiveMarkerServer> server;
ros::NodeHandle* p_n;
ros::Publisher coor_pub;
visualization_msgs::Marker marker;
ros::Publisher line_pub;

void processFeedback( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
{
	std::ostringstream mouse_point_ss;
	if( feedback->mouse_point_valid )
	{
		//mouse_point_ss << " at " << feedback->mouse_point.x
			//<< ", " << feedback->mouse_point.y
			//<< ", " << feedback->mouse_point.z
			//<< " in frame " << feedback->header.frame_id;
	}

	switch ( feedback->event_type )
	{
		case visualization_msgs::InteractiveMarkerFeedback::POSE_UPDATE:
			

			mtt::TargetList message;
			message.header.stamp = ros::Time::now();
			message.header.frame_id = "/world";

			//set the mtt msg id field
			message.id.push_back(0);

			//set the mtt msg position field
			pcl::PointCloud<pcl::PointXYZ> pc_in;
			pcl::PointXYZ pt;
			pt.x = feedback->pose.position.x;
			pt.y = feedback->pose.position.y;
			pt.z = 0;
			pc_in.points.push_back(pt);
			pcl::toROSMsg(pc_in, message.position);


			//set the mtt msg velocity field
			pcl::PointCloud<pcl::PointXYZ> pc_vel;
			pt.x = 0;
			pt.y = 0;
			pt.z = 0;
			pc_vel.points.push_back(pt);
			pcl::toROSMsg(pc_vel, message.velocity);

			//set the mtt msg obstacle_lines field
			pcl::PointCloud<pcl::PointXYZ> pc_obs;
			pt.x = feedback->pose.position.x +0;
			pt.y = feedback->pose.position.y -1;
			pt.z = 0;
			pc_obs.points.push_back(pt);

			pt.x = feedback->pose.position.x +0;
			pt.y = feedback->pose.position.y +1;
			pt.z = 0;
			pc_obs.points.push_back(pt);

			pt.x = feedback->pose.position.x +1;
			pt.y = feedback->pose.position.y +1;
			pt.z = 0;
			pc_obs.points.push_back(pt);

			sensor_msgs::PointCloud2 pc_msg;
			pcl::toROSMsg(pc_obs, pc_msg);

			message.obstacle_lines.push_back(pc_msg);	
			
			//publish the mtt msg	
			coor_pub.publish(message);


			//change the position of the line vis marker
			geometry_msgs::Point p;
			marker.header.frame_id = "/world";
			marker.header.stamp = ros::Time::now();
			marker.ns = "lines";
			marker.id = 0;
			marker.action = visualization_msgs::Marker::ADD;
			marker.type = visualization_msgs::Marker::LINE_LIST;
			marker.scale.x = 0.015;
			marker.color.r = 0.7;
			marker.color.g = 0.1;
			marker.color.b = 0.1;
			marker.color.a = 1.0;
			marker.pose.position.x = feedback->pose.position.x;
			marker.pose.position.y = feedback->pose.position.y;
			marker.pose.position.z = 0;

			p.x = 0;
			p.y = -1;
			p.z = 0;
			marker.points.push_back(p);
			p.x = 0;
			p.y = 1;
			p.z = 0;
			marker.points.push_back(p);
			marker.points.push_back(p);
			p.x = 1;
			p.y = 1;
			p.z = 0;
			marker.points.push_back(p);


			line_pub.publish(marker);

	break;
}

server->applyChanges();
}


Marker makeBox( InteractiveMarker &msg )
{
	Marker marker;

	marker.type = Marker::CUBE;
	marker.scale.x = msg.scale/7;
	marker.scale.y = msg.scale/7;
	marker.scale.z = msg.scale/7;
	marker.color.r = 0.7;
	marker.color.g = 0.1;
	marker.color.b = 0.1;
	marker.color.a = 0.8;
	return marker;
}


InteractiveMarkerControl& makeBoxControl( InteractiveMarker &msg )
{
	InteractiveMarkerControl control;
	control.always_visible = true;
	control.markers.push_back( makeBox(msg) );
	msg.controls.push_back( control );

	return msg.controls.back();
}


void make6DofMarker( bool fixed )
{
	InteractiveMarker int_marker;
	int_marker.header.frame_id = "/world";
	int_marker.pose.position.x = 5;
	int_marker.pose.position.y = 4;
	int_marker.pose.position.z = 0;
	int_marker.scale = 0.4;
	int_marker.name = "Control obstacle";
	int_marker.description = "Control the final \nposition of the obstacle";

	// insert a box
	makeBoxControl(int_marker);
	InteractiveMarkerControl control;

	control.orientation.w = 1;
	control.orientation.x = 1;
	control.orientation.y = 0;
	control.orientation.z = 0;
	control.name = "move_x";
	control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
	int_marker.controls.push_back(control);

	control.orientation.w = 1;
	control.orientation.x = 0;
	control.orientation.y = 0;
	control.orientation.z = 1;
	control.name = "move_y";
	control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
	int_marker.controls.push_back(control);

	server->insert(int_marker);
	server->setCallback(int_marker.name, &processFeedback);
}


int main(int argc, char **argv)
{
	ros::init(argc, argv, "mtt_target_generator");
	ros::NodeHandle n("~");
	ros::Rate loop_rate(10);
	p_n=&n;

	coor_pub = n.advertise<mtt::TargetList>("/mtt_targets", 1000);

	line_pub = n.advertise<visualization_msgs::Marker>( "/line_markers", 1 );


	server.reset( new interactive_markers::InteractiveMarkerServer("mtt_target_generator/im","",false) );
	make6DofMarker( true );
	server->applyChanges();

	while(ros::ok())
	{
		loop_rate.sleep();
		ros::spinOnce();
	}

	server.reset();
}