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/* Author: Dave Coleman
   Desc:   Wraps a trajectory_visualization playback class for Rviz into a stand alone display
*/

#include <moveit/trajectory_rviz_plugin/trajectory_display.h>
#include <rviz/properties/string_property.h>

namespace moveit_rviz_plugin
{
TrajectoryDisplay::TrajectoryDisplay() : Display(), load_robot_model_(false)
{
  // The robot description property is only needed when using the trajectory playback standalone (not within motion
  // planning plugin)
  robot_description_property_ = new rviz::StringProperty(
      "Robot Description", "robot_description", "The name of the ROS parameter where the URDF for the robot is loaded",
      this, SLOT(changedRobotDescription()), this);

  trajectory_visual_.reset(new TrajectoryVisualization(this, this));
}

TrajectoryDisplay::~TrajectoryDisplay()
{
}

void TrajectoryDisplay::onInitialize()
{
  Display::onInitialize();

  trajectory_visual_->onInitialize(scene_node_, context_, update_nh_);
}

void TrajectoryDisplay::loadRobotModel()
{
  load_robot_model_ = false;
  rdf_loader_.reset(new rdf_loader::RDFLoader(robot_description_property_->getStdString()));

  if (!rdf_loader_->getURDF())
  {
    this->setStatus(rviz::StatusProperty::Error, "Robot Model",
                    "Failed to load from parameter " + robot_description_property_->getString());
    return;
  }
  this->setStatus(rviz::StatusProperty::Ok, "Robot Model", "Successfully loaded");

  const srdf::ModelSharedPtr& srdf =
      rdf_loader_->getSRDF() ? rdf_loader_->getSRDF() : srdf::ModelSharedPtr(new srdf::Model());
  robot_model_.reset(new robot_model::RobotModel(rdf_loader_->getURDF(), srdf));

  // Send to child class
  trajectory_visual_->onRobotModelLoaded(robot_model_);
  trajectory_visual_->onEnable();
}

void TrajectoryDisplay::reset()
{
  Display::reset();
  loadRobotModel();
  trajectory_visual_->reset();
}

void TrajectoryDisplay::onEnable()
{
  Display::onEnable();
  load_robot_model_ = true;  // allow loading of robot model in update()
}

void TrajectoryDisplay::onDisable()
{
  Display::onDisable();
  trajectory_visual_->onDisable();
}

void TrajectoryDisplay::update(float wall_dt, float ros_dt)
{
  Display::update(wall_dt, ros_dt);

  if (load_robot_model_)
    loadRobotModel();

  trajectory_visual_->update(wall_dt, ros_dt);
}

void TrajectoryDisplay::changedRobotDescription()
{
  if (isEnabled())
    reset();
  else
    loadRobotModel();
}

}  // namespace moveit_rviz_plugin
