/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2009, Willow Garage, Inc.
 *  All rights reserved.
 *
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 *  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;
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 *
 * $Id: bag_io.cpp 34896 2010-12-19 06:21:42Z rusu $
 *
 */

#include <pluginlib/class_list_macros.h>
#include <ros/node_handle.h>
#include "pcl_ros/io/bag_io.h"

//////////////////////////////////////////////////////////////////////////////////////////////
bool 
pcl_ros::BAGReader::open (const std::string &file_name, const std::string &topic_name)
{
  try
  {
    bag_.open (file_name, rosbag::bagmode::Read);
    view_.addQuery (bag_, rosbag::TopicQuery (topic_name));

    if (view_.size () == 0)
      return (false);

    it_ = view_.begin ();
  }
  catch (rosbag::BagException &e)
  {
    return (false);
  }
  return (true);
}

//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::BAGReader::onInit ()
{
  boost::shared_ptr<ros::NodeHandle> pnh_;
  pnh_.reset (new ros::NodeHandle (getMTPrivateNodeHandle ()));
  // ---[ Mandatory parameters
  if (!pnh_->getParam ("file_name", file_name_))
  {
    NODELET_ERROR ("[onInit] Need a 'file_name' parameter to be set before continuing!");
    return;
  }
   if (!pnh_->getParam ("topic_name", topic_name_))
  {
    NODELET_ERROR ("[onInit] Need a 'topic_name' parameter to be set before continuing!"); 
    return;
  }
  // ---[ Optional parameters
  int max_queue_size = 1;
  pnh_->getParam ("publish_rate", publish_rate_);
  pnh_->getParam ("max_queue_size", max_queue_size);

  ros::Publisher pub_output = pnh_->advertise<sensor_msgs::PointCloud2> ("output", max_queue_size);

  NODELET_DEBUG ("[onInit] Nodelet successfully created with the following parameters:\n"
                 " - file_name    : %s\n"
                 " - topic_name   : %s",
                 file_name_.c_str (), topic_name_.c_str ());

  if (!open (file_name_, topic_name_))
    return;
  PointCloud output;
  output_ = boost::make_shared<PointCloud> (output);
  output_->header.stamp    = ros::Time::now ();

  // Continous publishing enabled?
  while (pnh_->ok ())
  {
    PointCloudConstPtr cloud = getNextCloud ();
    NODELET_DEBUG ("Publishing data (%d points) on topic %s in frame %s.", output_->width * output_->height, pnh_->resolveName ("output").c_str (), output_->header.frame_id.c_str ());
    output_->header.stamp = ros::Time::now ();

    pub_output.publish (output_);

    ros::Duration (publish_rate_).sleep ();
    ros::spinOnce ();
  }
}

typedef pcl_ros::BAGReader BAGReader;
PLUGINLIB_EXPORT_CLASS(BAGReader,nodelet::Nodelet)

