/*==========================================================================
--------------------------------------------------
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 "vtkTransformPolyDataFilter.h"

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

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

#include "vtkCommand.h"

#include "vtkHaptic.h"
#include "vtkVSP.h"


using namespace std;

namespace{
  //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
  vtkVSP * Haptic = NULL;
  vtkRenderWindowInteractor * Interactor = NULL;
  vtkRenderer * Ren1= NULL;

  vtkSphereSource * Balloon = NULL;
  vtkCylinderSource * Cath = NULL;
  vtkActor * CatheterActor = NULL;
  vtkActor * BalloonActor = NULL;
  vtkActor * CylinderActor = NULL;
}


void UpdateHaptic(vtkVSP * Haptic)
{
  //Update  state of the VSP device
  Haptic->UpdateDevice();

  /// Camera Operations ///
  //Get left & right joystick state
  int rightY = Haptic->GetRightJoystickYPosition();
  int rightX = Haptic->GetRightJoystickXPosition();
  int leftY = Haptic->GetLeftJoystickYPosition();
  int leftX = Haptic->GetLeftJoystickXPosition();

  vtkCamera * camera = Ren1->GetActiveCamera();
  vtkTransform * cameraTransfom = vtkTransform::SafeDownCast(camera->GetUserTransform());

  //Translate the camera in accordance with the right joystick state
  cameraTransfom->Translate(rightX/1000.0, rightY/1000.0, 0);

  //Modify camera azimuth/elevation in accordance with the left joystick state
  camera->Azimuth(leftX*0.5);
  camera->Elevation(leftY*0.5);

  //Set the zoom for the camera in function of the VSP buttons state
  if(Haptic->GetZoomState() == 1)
  {
    camera->Dolly(1.01);
  }
  else if (Haptic->GetZoomState() == -1)
  {
    camera->Dolly(0.99);
  }

  /// Pedal Operations ///


  /// Catheter Operations ///
  for (int i = 0; i<3; i++)
  {
    if(Haptic->GetCatheterState(i) > 0)
    {
      //Modify Catheter radius depending on catheter width (0=8F, 1=5F, 2=2.5F)
      float radius = 0.3/(i+1);
      Cath->SetRadius(radius);
      Balloon->SetRadius(radius);

      //Get the position of the catheter inside the VSP device
      float depth = Haptic->GetCatheterDepth(i);

      //Update the position of the balloon & catheter inside of the cylinder
      double factor = 0.02;
      double  position[3];
      CatheterActor->GetPosition(position);
      CatheterActor->SetPosition(0, factor*depth, 0);
      BalloonActor->GetPosition(position);
      BalloonActor->SetPosition(0, factor*depth, 0);

      //Get the catheter roll angle
      float roll = Haptic->GetCatheterRoll(i);
      CatheterActor->RotateY(roll);
      BalloonActor->RotateY(roll);

      ///Balloon Inflation///
      if(Haptic->GetInflationPressure() > 0)
      {
        float balloonRadius = radius + 0.5*(Haptic->GetInflationPressure()/20);
        Balloon->SetRadius(balloonRadius);
      }
    }
  }

}

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 ESQUI simulation process.

int main(int argc, char * argv[])
{
  /**********  Render Window Definitions  ********/
  //Global Variable
  Ren1 = vtkRenderer::New();
  Ren1->SetBackground(1.0,1.0,1.0);
  
  vtkRenderWindow *renWin = vtkRenderWindow::New();
  renWin->AddRenderer(Ren1);
  renWin->SetSize(840,480);
  //renWin->Render();

  //Global Variable
  Interactor = vtkRenderWindowInteractor::New();
  Interactor->SetRenderWindow(renWin);

  vtkTransform * cameraTransform = vtkTransform::New();
  Ren1->GetActiveCamera()->SetUserTransform(cameraTransform);
  Ren1->GetActiveCamera()->Dolly(0.02);

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

  //A cylinder will emulate a vessel
  //Instance of vtkCylinderSource and set some of its properties.
  vtkCylinderSource * cylinder = vtkCylinderSource::New();
  cylinder->SetHeight(13.0);
  cylinder->SetResolution(20);
  vtkDelaunay3D * del = vtkDelaunay3D::New();
  del->SetInput(cylinder->GetOutput());
  del->SetTolerance(0.01);

  vtkTextureMapToCylinder *  textureMapper = vtkTextureMapToCylinder::New();
  textureMapper->SetInputConnection(del->GetOutputPort());
  textureMapper->PreventSeamOn();

  //Scale the texture coordinate to get some repeat patterns.
  vtkTransformTextureCoords * xForm = vtkTransformTextureCoords::New();
  xForm->SetInput(textureMapper->GetOutput());
  xForm->SetScale(1, 8, 1);

  vtkDataSetMapper *  mapper = vtkDataSetMapper::New();
  mapper->SetInput (xForm->GetOutput());

  //Set the texture of the cylinder
  vtkJPEGReader *  jpegReader = vtkJPEGReader::New();
  jpegReader->SetFileName("Scenario/VesselTexture.jpg");

  vtkTexture * texture = vtkTexture::New();
  texture->SetInputConnection (jpegReader->GetOutputPort());
  texture->InterpolateOn();

  //Global Variable
  CylinderActor = vtkActor::New();
  CylinderActor->SetMapper(mapper);
  CylinderActor->SetTexture(texture);

  vtkProperty * cylinderProp = vtkProperty::New();
  cylinderProp->SetColor(0.2, 0.1, 0);
  cylinderProp->SetAmbient(100);
  cylinderProp->SetSpecular(200);
  cylinderProp->SetOpacity(0.5);
  CylinderActor->SetProperty(cylinderProp);

  //A small cylinder will emulate the catheter
  Cath = vtkCylinderSource::New();
  Cath->SetHeight(10.0);
  Cath->SetRadius(0.3);
  Cath->SetResolution(20);

  //Ball is shifted in depth (note negative sign)
  vtkTransform * transformShift = vtkTransform::New();
  transformShift->Translate(0, -12, 0);

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

  shiftFilter->SetInput(Cath->GetOutput());
  shiftFilter->Update();

  vtkDataSetMapper *  cathMapper = vtkDataSetMapper::New();
  cathMapper->SetInput(shiftFilter->GetOutput());

  CatheterActor = vtkActor::New();
  CatheterActor->SetMapper(cathMapper);

  vtkProperty * prop = CatheterActor->GetProperty();
  prop->SetColor(0.5, 0.7, 1);
  prop->SetOpacity(0.8);

  vtkTransform * shift = vtkTransform::New();
  shift->Translate(0,0,0);

  //A sphere will emulate the stent
  Balloon = vtkSphereSource::New();
  Balloon->SetRadius(0.3);
  Balloon->SetCenter(0, -7, 0);
  Balloon->SetPhiResolution(12);
  Balloon->SetThetaResolution(12);

  vtkPolyDataMapper * sphereMapper = vtkPolyDataMapper::New();
  sphereMapper->SetInput(Balloon->GetOutput());

  //Global Variable
  BalloonActor = vtkActor::New();
  BalloonActor->SetMapper(sphereMapper);

  //Add Actors to the renderer
  Ren1->AddActor(CylinderActor);
  Ren1->AddActor(CatheterActor);
  Ren1->AddActor(BalloonActor);

  Interactor->Initialize();

  //Interactor->RemoveAllObservers();

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

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

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

  int connected = Haptic->Init();

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

    // Create repeating timer for synchronous haptic update
    tid = Interactor->CreateRepeatingTimer(30);
    cb->SetFastTimerId(tid);
  }
  else
  {
    std::cout << "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 = Interactor->CreateRepeatingTimer(20);
  cb->SetRenderTimerId(tid);

  Interactor->Start();

  Haptic->Release();

  Haptic->Delete();
  Ren1->Delete();
  renWin->Delete();
  Interactor->Delete();
  
  return 0;
}