/*
 * Software License Agreement  (BSD License)
 *
 *  Point Cloud Library  (PCL) - www.pointclouds.org
 *  Copyright (c) 2012-, Open Perception, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
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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.
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 *     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,
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 */

#ifndef PCL_APPS_OPTRONIC_VIEWER_MAIN_WINDOW_H_
#define PCL_APPS_OPTRONIC_VIEWER_MAIN_WINDOW_H_

#include <boost/shared_ptr.hpp>

#include <pcl/apps/optronic_viewer/qt.h>
#include <pcl/apps/optronic_viewer/openni_grabber.h>
#include <pcl/apps/optronic_viewer/cloud_filter.h>
#include <pcl/io/openni_grabber.h>
#include <pcl/visualization/pcl_visualizer.h>

#include <fz_api.h>


namespace pcl
{
  namespace apps
  {
    namespace optronic_viewer
    {
      
      enum DeviceType
      {
        OPENNI_DEVICE,
        FOTONIC_DEVICE
      };

      class Device
      {
      public:
        Device (DeviceType arg_device_type)
          : device_type (arg_device_type)
        {}
        virtual ~Device () {}

        DeviceType device_type;
      };

      class OpenNIDevice
        : public Device
      {
      public:
        OpenNIDevice ()
          : Device (OPENNI_DEVICE)
        {}
        virtual ~OpenNIDevice () {}

        int device_id;
        std::string name;
        std::string vendor;
        std::string serial_number;
      };

      class FotonicDevice
        : public Device
      {
      public:
        FotonicDevice ()
          : Device (FOTONIC_DEVICE)
        {}
        virtual ~FotonicDevice () {}

        FZ_DEVICE_INFO device_info;
      };


      class MainWindow : public QMainWindow
      {
        Q_OBJECT

        public:
          static MainWindow& getInstance() {
            static MainWindow theSingleton;
            return theSingleton;
          }

        public Q_SLOTS:
          void selectedSensorChanged (int index);
          void cloud_callback (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr cloud);
          void refresh ();
          void refreshFilterList ();

        private:
          // create the file menu in the menu bar
          void createFileMenu ();

          // find connected devices
          void findConnectedDevices ();

          private Q_SLOTS:
            void addFilter ();
            void updateFilter (QListWidgetItem*);
            void filterSelectionChanged ();

            void moveFilterUp ();
            void moveFilterDown ();
            void removeFilter ();

        private:
          MainWindow();
          MainWindow(const MainWindow &) : QMainWindow () {}            // copy ctor hidden
          MainWindow& operator=(const MainWindow &) { return (*this); } // assign op. hidden
          ~MainWindow();

          // visualization of processing chain
          QListWidget * processing_list_;

          // buttons to change processing chain
          QPushButton * up_ ;
          QPushButton * down_;
          QPushButton * remove_;

          // visualization of point clouds
          QVTKWidget * qvtk_widget_;
          pcl::visualization::PCLVisualizer * pcl_visualizer_;
          pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr cloud_;

          // connected devices
          std::vector<Device*> connected_devices_;

          // Grabber stuff
          //std::vector<OpenNIDevice> connected_openni_devices_;
          pcl::Grabber * grabber_;
          pcl::apps::optronic_viewer::OpenNIGrabber * grabber_thread_;

          // filters
          std::vector<CloudFilterFactory*> filter_factories_;
          std::vector<CloudFilter*> active_cloud_filters_;

          // mutexes
          boost::mutex cloud_mutex_;
      };
    }
  }
}

#endif // PCL_APPS_OPTRONIC_VIEWER_MAIN_WINDOW_H_
