/*==========================================================================
--------------------------------------------------
Program: ESQUI
Info and Bugs: {marf,jballesteros}@itccanarias.org
url: http://motivando.me 
--------------------------------------------------

Copyright (c) 2006-2007, Center for Technology in Medicine (CTM), 
University of Las Palmas de Gran Canaria (ULPGC), Canary Islands, Spain.
Copyright (c) 2007-2010, Institute of Technology at CanaryIslands (ITC),
Canary Islands, Spain.

This software is free software; you can redistribute it and/or modify it 
under the terms of the GNU Lesser General Public License (LGPL) as published
by the Free Software Foundation, either version 3 of the License, or (at 
your option) any later version.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

1) Redistributions of source code must retain the above copyright
   notice, this list of conditions and the following disclaimer.
2) 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.

You should have received a copy of the GNU Lesser General Public License 
along with this program.  If not, see <http://www.gnu.org/licenses/>.

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 AUTHORS 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; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
POSSIBILITY OF SUCH DAMAGE.
==========================================================================*/
#include <iostream>
#include "vtkRenderWindow.h"
#include "vtkRenderWindowInteractor.h"
#include "vtkCamera.h"
#include "vtkActor.h"
#include "vtkProperty.h"
#include "vtkRenderer.h"
#include "vtkRendererCollection.h"
#include "vtkTransform.h"
#include "vtkLinearTransform.h"
#include "vtkAppendPolyData.h"
#include "vtkTransformPolyDataFilter.h"

#include "vtkPolyDataReader.h"
#include "vtkPolyDataMapper.h"
#include "vtkDataSetMapper.h"
#include "vtkTexture.h"
#include "vtkLight.h"
#include "vtkLightCollection.h"

#include "vtkCylinderSource.h"
#include "vtkCubeSource.h"
#include "vtkSphereSource.h"
#include "vtkProperty.h"
#include "vtkDelaunay3D.h"
#include "vtkTextureMapToCylinder.h"
#include "vtkTransformTextureCoords.h"
#include "vtkJPEGReader.h"

#include "vtkFloatArray.h"
#include "vtkRectilinearGrid.h"
#include "vtkRectilinearGridGeometryFilter.h"

#include "vtkCommand.h"

#include "vtkMath.h"
#include "vtkHaptic.h"
#include "vtkIHP.h"

namespace IHPExampleNS{
  //All these objects must be defined globally, in order to access them on timer callback
  //Note: Global variables may have its first letter on uppercase
  vtkIHP * Haptic = NULL;

  vtkActor * Tool0Actor = NULL;
  vtkActor * Tool1Actor = NULL;

  vtkTransform * Tool0Transform = NULL;
  vtkTransform * Tool1Transform = NULL;

  float Tool0Depth  = 0;
  float Tool1Depth  = 0;

  void UpdateHaptic(vtkIHP * Haptic);
}

using namespace std;
using namespace IHPExampleNS;

void IHPExampleNS::UpdateHaptic(vtkIHP * Haptic)
{

  float * state;
  float * direction;
  float yaw;
  float pitch;
  float depth;
  float roll;
  float opening;

  vtkActor * tool;
  vtkTransform * toolTx;
  float * toolDepth;

  //Update  state of the IHP device
  Haptic->UpdateDevice();

  for (int i = 0; i<2; i++)
  {
    cout << "### Tool("<<  i <<") ###" << endl;
    //Trocar state
    state = Haptic->GetTrocarState(i);
    //cout << "Direction: (" << state[0] <<", "<< state[1] <<", "<< state[2] <<")"<< endl;

    //Trocar's direction is returned as a unit vector
    direction = Haptic->GetTrocarDirection(i);
    //Trocar's direction angles
    yaw = Haptic->GetTrocarYaw(i);
    pitch = Haptic->GetTrocarPitch(i);

    //Tool-in-the-trocar parameters
    depth = Haptic->GetToolDepth(i);
    roll = Haptic->GetToolRoll(i);
    opening = Haptic->GetToolOpening(i);


    if(i == 0)
    {
      tool = Tool0Actor;
      toolTx = Tool0Transform;
      toolDepth = &Tool0Depth;
    }
    else
    {
      tool = Tool1Actor;
      toolTx = Tool1Transform;
      toolDepth = &Tool1Depth;
    }

    //Set Orientation of the tool
    tool->SetOrientation(pitch,yaw,0);

    std::cout << "Yaw: " << yaw << ", Pitch: "
        << pitch << ", Roll: "
        << roll << "\n";

    //Set tool's roll angle.
    tool->RotateZ(roll);

    //Set tool's depth
    double step = -6*depth + *toolDepth;
    toolTx->Translate(0, 0, step);
    *toolDepth=6*depth;

    cout << "Depth: " << *toolDepth  << endl;

    //Set tool's opening. Modify the color of the tool according to the opening parameter
    vtkProperty * prop = tool->GetProperty();
    prop->SetColor(0 ,0 ,opening);
    tool->SetProperty(prop);

    //Display tool buttons/pedal state
    if(Haptic->GetToolButtonState(i)){
      std::cout << "Tool("<<i<< ") Main button is pressed...\n";
    }
    if(Haptic->GetLeftPedalState()){
      std::cout << "Tool("<<i<< ") Left pedal is pressed...\n";
    }
    if(Haptic->GetRightPedalState()){
      std::cout << "Tool("<<i<< ") Right pedal is pressed...\n";
    }

    //Set Tool Feedback Forces

    float force[3];
    force[0] = 0;
    force[1] = 0;
    force[2] = 0;

    if(*toolDepth > 3.5)
    {
      //A Horizontal plane is simulated to check haptic feedback force.
      //Z-Component Elastic Force is applied
      force[2] = 2*(*toolDepth - 3.5);
      std::cout << "Depth: " << *toolDepth << " | Feedback Force: "<< force[2] << "N" << std::endl;
    }
    else force[0] = 0;

    Haptic->SetToolTipForce(i, force);
    Haptic->ApplyForce(i);
  }

  Haptic->FlushForces();

}

class vtkTimerCallback : public vtkCommand
{
public:
  static vtkTimerCallback *New()
  {
    vtkTimerCallback *cb = new vtkTimerCallback;
    cb->FastTimerId = 0;
    cb->FastTimerCount = 0;
    cb->RenderTimerId = 0;
    cb->RenderTimerCount = 0;
    return cb;
  }

  virtual void Execute(vtkObject *caller, unsigned long eventId, void *callData)
  {
    if (vtkCommand::TimerEvent == eventId)
    {
      int tid = * static_cast<int *>(callData);

      if (tid == this->FastTimerId)
      {
        //Update Haptic Trigger
        UpdateHaptic(Haptic);

        ++this->FastTimerCount;
      }
      else if (tid == this->RenderTimerId)
      {
        ++this->RenderTimerCount;

        vtkRenderWindowInteractor *iren = vtkRenderWindowInteractor::SafeDownCast(caller);
        if (iren && iren->GetRenderWindow() && iren->GetRenderWindow()->GetRenderers())
        {
          iren->Render();
        }
      }
    }
  }

  void SetFastTimerId(int tid)
  {
    this->FastTimerId = tid;
    this->FastTimerCount = 0;
  }

  void SetRenderTimerId(int tid)
  {
    this->RenderTimerId = tid;
    this->RenderTimerCount = 0;
  }

  void Report()
  {
    cout << "vtkTimerCallback::Report" << endl;
    cout << "  FastTimerId: " << this->FastTimerId << endl;
    cout << "  FastTimerCount: " << this->FastTimerCount << endl;
    cout << "  RenderTimerId: " << this->RenderTimerId << endl;
    cout << "  RenderTimerCount: " << this->RenderTimerCount << endl;
  }

private:
  int FastTimerId;
  int FastTimerCount;
  int RenderTimerId;
  int RenderTimerCount;
};

//!This test perform a standard execution of the IHP Haptic Management

int main(int argc, char * argv[])
{
  /**********  Render Window Definitions  ********/
  vtkRenderer * ren1 = vtkRenderer::New();
  ren1->SetBackground(1.0,1.0,1.0);
  
  vtkRenderWindow *renWin = vtkRenderWindow::New();
  renWin->AddRenderer(ren1);
  renWin->SetSize(840,480);

  vtkRenderWindowInteractor * iren = vtkRenderWindowInteractor::New();
  iren->SetRenderWindow(renWin);

  vtkTransform * cameraTransform = vtkTransform::New();
  vtkCamera * camera = ren1->GetActiveCamera();
  camera->SetUserTransform(cameraTransform);
  //Initialize Camera Position
  double * focal = camera->GetFocalPoint();
  std::cout << "Camera Focal Point: " << focal[0] << ", " << focal[1] << ", " << focal[2] << "\n";
  camera->SetFocalPoint(focal[0], focal[1], focal[2] - 12);
  camera->SetPosition(0, 0, 0);
  camera->Yaw(0);
  camera->Elevation(20);
  camera->Pitch(-20);
  camera->Dolly(1);

  /******* Creation & Initialization of figures ********/

  //A cylinder will emulate the tool
  //Instance of vtkCylinderSource and set some of its properties.
  vtkCylinderSource * cylinder = vtkCylinderSource::New();
  cylinder->SetHeight(12.0);
  cylinder->SetRadius(.3);
  cylinder->SetResolution(20);
  cylinder->Update();

  vtkCubeSource * cube = vtkCubeSource::New();
  cube->SetXLength(1);
  cube->SetYLength(1.5);
  cube->SetZLength(1);
  cube->Update();

  //Ball is shifted in depth (note negative sign)
  vtkTransform * transformShift = vtkTransform::New();
  transformShift->Translate(0, -6, 0);

  vtkTransformPolyDataFilter * shiftFilter = vtkTransformPolyDataFilter::New();
  shiftFilter->SetTransform(transformShift);
  shiftFilter->SetInput(cube->GetOutput());

  vtkAppendPolyData * append = vtkAppendPolyData::New();
  append->AddInput(cylinder->GetOutput());
  append->AddInput(shiftFilter->GetOutput());

  //A Transform will be performed to the polyData to adjust it to VTK coordinate system
  // Whole tool is rotated -90 degrees at x axis. Set in a horizontal plane
  vtkTransform * transformRotate = vtkTransform::New();
  transformRotate->RotateX(90);

  vtkTransformPolyDataFilter * transformFilter = vtkTransformPolyDataFilter::New();
  transformFilter->SetTransform(transformRotate);

  transformFilter->SetInput(append->GetOutput());
  transformFilter->Update();

  vtkPolyData * cyl0 = vtkPolyData::New();
  cyl0->DeepCopy(transformFilter->GetOutput());

  //Global Variable
  vtkTransformPolyDataFilter * tool0Filter = vtkTransformPolyDataFilter::New();
  Tool0Transform = vtkTransform::New();

  tool0Filter->SetInput(cyl0);
  tool0Filter->SetTransform(Tool0Transform);

  vtkDataSetMapper *  tool0Mapper = vtkDataSetMapper::New();
  tool0Mapper->SetInput (tool0Filter->GetOutput());

  Tool0Actor = vtkActor::New();
  Tool0Actor->SetMapper(tool0Mapper);

  vtkProperty * cylinderProp = vtkProperty::New();
  cylinderProp->SetColor(0, 0, 0);
  cylinderProp->SetAmbient(100);
  cylinderProp->SetSpecular(200);
  cylinderProp->SetOpacity(0.5);
  Tool0Actor->SetProperty(cylinderProp);
  Tool0Actor->AddPosition(-3, 0.5, 0);
  Tool0Actor->SetOrientation(0, -10, 0);

  //A cylinder will emulate the tool
  //Instance of vtkCylinderSource and set some of its properties.
  vtkPolyData * cyl1 = vtkPolyData::New();
  cyl1->DeepCopy(cyl0);

  //Global Variable
  vtkTransformPolyDataFilter * tool1Filter = vtkTransformPolyDataFilter::New();
  Tool1Transform = vtkTransform::New();

  tool1Filter->SetInput(cyl1);
  tool1Filter->SetTransform(Tool1Transform);

  vtkDataSetMapper *  tool1Mapper = vtkDataSetMapper::New();
  tool1Mapper->SetInput(tool1Filter->GetOutput());

  Tool1Actor = vtkActor::New();
  Tool1Actor->SetMapper(tool1Mapper);

  vtkProperty * cylinderProp1 = vtkProperty::New();
  cylinderProp1->SetColor(0.1, 0.1, 0.1);
  cylinderProp1->SetAmbient(100);
  cylinderProp1->SetSpecular(200);
  cylinderProp1->SetOpacity(0.5);
  Tool1Actor->SetProperty(cylinderProp1);
  Tool1Actor->AddPosition(3, 0.5, 0);
  Tool1Actor->SetOrientation(0, 10, 0);

  //Add Actors to the renderer
  ren1->AddActor(Tool0Actor);
  ren1->AddActor(Tool1Actor);

  iren->Initialize();

  //iren->RemoveAllObservers();

  // Sign up to receive TimerEvent:
  //
  vtkTimerCallback *cb = vtkTimerCallback::New();
  iren->AddObserver(vtkCommand::TimerEvent, cb);
  int tid;

  /******* Haptic Initialization ********/

  //Create an vtkIHP Haptic Object
  Haptic = vtkIHP::New();

  int connected = Haptic->Init();

  if(connected > 0){
    std::cout << "IHP Device is connected..." << std::endl;

    // Create repeating timer for synchronous haptic update
    tid = iren->CreateRepeatingTimer(30);
    cb->SetFastTimerId(tid);
    Haptic->SetInitialPitchAngle(0);
  }
  else
  {
    std::cout << "IHP Device is not connected... \nPlease startup device and restart the application" << std::endl;
    exit(0);
  }

  // Create a slower repeating timer to trigger Render calls.
  // (This fires at the rate of approximately 20 frames per second.)
  //
  tid = iren->CreateRepeatingTimer(50);
  cb->SetRenderTimerId(tid);

  iren->Start();

  Haptic->Release();

  Haptic->Delete();
  ren1->Delete();
  renWin->Delete();
  iren->Delete();
  
  return 0;
}