/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2011, Willow Garage, Inc.
 *  Copyright (c) 2012-, Open Perception, Inc.
 *
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 *
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 *     with the distribution.
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 *     from this software without specific prior written permission.
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#include <pcl/pcl_config.h>
#include <pcl/memory.h>
#ifdef HAVE_OPENNI

#ifdef __GNUC__
#pragma GCC diagnostic ignored "-Wold-style-cast"
#endif

#include <pcl/io/openni_camera/openni_device_primesense.h>
#include <pcl/io/openni_camera/openni_image_yuv_422.h>
#include <pcl/io/boost.h>

#include <iostream>
#include <mutex>
#include <sstream>

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
openni_wrapper::DevicePrimesense::DevicePrimesense (
    xn::Context& context, 
    const xn::NodeInfo& device_node, 
    const xn::NodeInfo& image_node, 
    const xn::NodeInfo& depth_node, 
    const xn::NodeInfo& ir_node) : OpenNIDevice (context, device_node, image_node, depth_node, ir_node)
{
  // setup stream modes
  enumAvailableModes ();
  setDepthOutputMode (getDefaultDepthMode ());
  setImageOutputMode (getDefaultImageMode ());
  setIROutputMode (getDefaultIRMode ());

  std::unique_lock<std::mutex> image_lock (image_mutex_);
  XnStatus status = image_generator_.SetIntProperty ("InputFormat", 5);
  if (status != XN_STATUS_OK)
    THROW_OPENNI_EXCEPTION ("Error setting the image input format to Uncompressed YUV422. Reason: %s", xnGetStatusString (status));

  status = image_generator_.SetPixelFormat (XN_PIXEL_FORMAT_YUV422);
  if (status != XN_STATUS_OK)
    THROW_OPENNI_EXCEPTION ("Failed to set image pixel format to YUV422. Reason: %s", xnGetStatusString (status));

  image_lock.unlock ();

  std::lock_guard<std::mutex> depth_lock (depth_mutex_);
  status = depth_generator_.SetIntProperty ("RegistrationType", 1);
  if (status != XN_STATUS_OK)
    THROW_OPENNI_EXCEPTION ("Error setting the registration type. Reason: %s", xnGetStatusString (status));
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
openni_wrapper::DevicePrimesense::~DevicePrimesense () noexcept
{
  setDepthRegistration (false);
  setSynchronization (false);

  depth_mutex_.lock ();
  depth_generator_.UnregisterFromNewDataAvailable (depth_callback_handle_);
  depth_mutex_.unlock ();

  image_mutex_.lock ();
  image_generator_.UnregisterFromNewDataAvailable (image_callback_handle_);
  image_mutex_.unlock ();
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
bool 
openni_wrapper::DevicePrimesense::isImageResizeSupported (
    unsigned input_width, 
    unsigned input_height, 
    unsigned output_width, 
    unsigned output_height) const throw ()
{
  return (ImageYUV422::resizingSupported (input_width, input_height, output_width, output_height));
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void 
openni_wrapper::DevicePrimesense::enumAvailableModes () noexcept
{
  XnMapOutputMode output_mode;
  available_image_modes_.clear ();
  available_depth_modes_.clear ();

  // Depth Modes
  output_mode.nFPS = 30;
  output_mode.nXRes = XN_VGA_X_RES;
  output_mode.nYRes = XN_VGA_Y_RES;
  available_depth_modes_.push_back (output_mode);

  output_mode.nFPS = 25;
  output_mode.nXRes = XN_VGA_X_RES;
  output_mode.nYRes = XN_VGA_Y_RES;
  available_depth_modes_.push_back (output_mode);

  output_mode.nFPS = 25;
  output_mode.nXRes = XN_QVGA_X_RES;
  output_mode.nYRes = XN_QVGA_Y_RES;
  available_depth_modes_.push_back (output_mode);

  output_mode.nFPS = 30;
  output_mode.nXRes = XN_QVGA_X_RES;
  output_mode.nYRes = XN_QVGA_Y_RES;
  available_depth_modes_.push_back (output_mode);

  output_mode.nFPS = 60;
  output_mode.nXRes = XN_QVGA_X_RES;
  output_mode.nYRes = XN_QVGA_Y_RES;
  available_depth_modes_.push_back (output_mode);

  // RGB Modes
  output_mode.nFPS = 30;
  output_mode.nXRes = XN_VGA_X_RES;
  output_mode.nYRes = XN_VGA_Y_RES;
  available_image_modes_.push_back (output_mode);

  output_mode.nFPS = 25;
  output_mode.nXRes = XN_VGA_X_RES;
  output_mode.nYRes = XN_VGA_Y_RES;
  available_image_modes_.push_back (output_mode);

  output_mode.nFPS = 25;
  output_mode.nXRes = XN_QVGA_X_RES;
  output_mode.nYRes = XN_QVGA_Y_RES;
  available_image_modes_.push_back (output_mode);

  output_mode.nFPS = 30;
  output_mode.nXRes = XN_QVGA_X_RES;
  output_mode.nYRes = XN_QVGA_Y_RES;
  available_image_modes_.push_back (output_mode);

  output_mode.nFPS = 60;
  output_mode.nXRes = XN_QVGA_X_RES;
  output_mode.nYRes = XN_QVGA_Y_RES;
  available_image_modes_.push_back (output_mode);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
openni_wrapper::Image::Ptr 
openni_wrapper::DevicePrimesense::getCurrentImage (pcl::shared_ptr<xn::ImageMetaData> image_data) const throw ()
{
  return (openni_wrapper::Image::Ptr (new ImageYUV422 (image_data)));
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void 
openni_wrapper::DevicePrimesense::startImageStream ()
{
  // Suat: Ugly workaround... but on some usb-ports its not possible to start the image stream after the depth stream.
  // turning on and off registration solves for some reason the problem!

  if (isDepthStreamRunning ())
  {
    if (isDepthRegistered ())
    {
     // Reset the view point
      setDepthRegistration (false);

      // Reset the view point
      setDepthRegistration (true);

     // Reset the view point
      setDepthRegistration (false);

      // Start the stream
      OpenNIDevice::startImageStream ();

      // Register the stream
      setDepthRegistration (true);
    }
    else
    {
      // Reset the view point
      setDepthRegistration (true);
      // Reset the view point
      setDepthRegistration (false);

      // Start the stream
      OpenNIDevice::startImageStream ();
    }
  }
  else
    // Start the stream
    OpenNIDevice::startImageStream ();
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void 
openni_wrapper::DevicePrimesense::startDepthStream ()
{
  if (isDepthRegistered ())
  {
    // Reset the view point
    setDepthRegistration (false);

    // Start the stream
    OpenNIDevice::startDepthStream ();

    // Register the stream
    setDepthRegistration (true);
  }
  else
    // Start the stream
    OpenNIDevice::startDepthStream ();
}

#endif
