/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#include "gazebo/sensors/DepthCameraSensor.hh"
#include "plugins/CameraPlugin.hh"

using namespace gazebo;
GZ_REGISTER_SENSOR_PLUGIN(CameraPlugin)

/////////////////////////////////////////////////
CameraPlugin::CameraPlugin()
: SensorPlugin(), width(0), height(0), depth(0)
{
}

/////////////////////////////////////////////////
CameraPlugin::~CameraPlugin()
{
  this->newFrameConnection.reset();
  this->parentSensor.reset();
  this->camera.reset();
}

/////////////////////////////////////////////////
void CameraPlugin::Load(sensors::SensorPtr _sensor, sdf::ElementPtr /*_sdf*/)
{
  if (!_sensor)
    gzerr << "Invalid sensor pointer.\n";

  this->parentSensor =
    std::dynamic_pointer_cast<sensors::CameraSensor>(_sensor);

  if (!this->parentSensor)
  {
    gzerr << "CameraPlugin requires a CameraSensor.\n";
    if (std::dynamic_pointer_cast<sensors::DepthCameraSensor>(_sensor))
      gzmsg << "It is a depth camera sensor\n";
  }

  this->camera = this->parentSensor->Camera();

  if (!this->parentSensor)
  {
    gzerr << "CameraPlugin not attached to a camera sensor\n";
    return;
  }

  this->width = this->camera->ImageWidth();
  this->height = this->camera->ImageHeight();
  this->depth = this->camera->ImageDepth();
  this->format = this->camera->ImageFormat();

  this->newFrameConnection = this->camera->ConnectNewImageFrame(
      std::bind(&CameraPlugin::OnNewFrame, this,
        std::placeholders::_1, std::placeholders::_2, std::placeholders::_3,
        std::placeholders::_4, std::placeholders::_5));

  this->parentSensor->SetActive(true);
}

/////////////////////////////////////////////////
void CameraPlugin::OnNewFrame(const unsigned char * /*_image*/,
                              unsigned int /*_width*/,
                              unsigned int /*_height*/,
                              unsigned int /*_depth*/,
                              const std::string &/*_format*/)
{
  /*rendering::Camera::SaveFrame(_image, this->width,
    this->height, this->depth, this->format,
    "/tmp/camera/me.jpg");
    */
}
