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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2015-, Open Perception, Inc.
 *  Copyright (c) 2015 The MITRE Corporation
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#pragma once

#include "pcl/pcl_config.h"

#include <pcl/io/hdl_grabber.h>
#include <pcl/io/grabber.h>
#include <pcl/point_types.h>
#include <boost/asio.hpp>
#include <string>

namespace pcl
{

  /** \brief Grabber for the Velodyne LiDAR (VLP), based on the Velodyne High Definition Laser (HDL)
   * \author Keven Ring <keven@mitre.org>
   * \ingroup io
   */
  class PCL_EXPORTS VLPGrabber : public HDLGrabber
  {
    public:
      /** \brief Constructor taking an optional path to an vlp corrections file.  The Grabber will listen on the default IP/port for data packets [192.168.3.255/2368]
       * \param[in] pcapFile Path to a file which contains previously captured data packets.  This parameter is optional
       */
      VLPGrabber (const std::string& pcapFile = "");

      /** \brief Constructor taking a specified IP/port
       * \param[in] ipAddress IP Address that should be used to listen for VLP packets
       * \param[in] port UDP Port that should be used to listen for VLP packets
       */
      VLPGrabber (const boost::asio::ip::address& ipAddress,
                  const std::uint16_t port);

      /** \brief virtual Destructor inherited from the Grabber interface. It never throws. */
      
      ~VLPGrabber () noexcept override;

      /** \brief Obtains the name of this I/O Grabber
       *  \return The name of the grabber
       */
      std::string
      getName () const override;

      /** \brief Allows one to customize the colors used by each laser.
       * \param[in] color RGB color to set
       * \param[in] laserNumber Number of laser to set color
       */
      void
      setLaserColorRGB (const pcl::RGB& color,
                        const std::uint8_t laserNumber);

      /** \brief Allows one to customize the colors used for each of the lasers.
      * \param[in] begin begin iterator of RGB color array
      * \param[in] end end iterator of RGB color array
      */
      template<typename IterT> void
      setLaserColorRGB (const IterT& begin, const IterT& end)
      {
          std::copy (begin, end, laser_rgb_mapping_);
      }

      /** \brief Returns the maximum number of lasers
      */
      std::uint8_t
      getMaximumNumberOfLasers () const override;

    protected:
      static const std::uint8_t VLP_MAX_NUM_LASERS = 16;
      static const std::uint8_t VLP_DUAL_MODE = 0x39;

    private:
      pcl::RGB laser_rgb_mapping_[VLP_MAX_NUM_LASERS];

      void
      toPointClouds (HDLDataPacket *dataPacket) override;

      boost::asio::ip::address
      getDefaultNetworkAddress () override;

      void
      initializeLaserMapping ();

      void
      loadVLP16Corrections ();

  };
}
