/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2014-, Open Perception, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  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.
 *   * Neither the name of the copyright holder(s) nor the names of its
 *     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,
 *  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.
 *
 *  Author: Victor Lamoine (victor.lamoine@gmail.com)
 */

#include <chrono>
#include <iostream>
#include <thread>

#include <pcl/io/ensenso_grabber.h>
#include <pcl/visualization/cloud_viewer.h>

using namespace std::chrono_literals;

/** @brief Convenience typedef */
using CloudViewer = pcl::visualization::CloudViewer;

/** @brief Convenience typedef for XYZ point clouds */
using PointCloudXYZ = pcl::PointCloud<pcl::PointXYZ>;

/** @brief CloudViewer pointer */
CloudViewer::Ptr viewer_ptr;

/** @brief PCL Ensenso object pointer */
pcl::EnsensoGrabber::Ptr ensenso_ptr;

/** @brief Process and/or display Ensenso grabber clouds
 * @param[in] cloud Ensenso cloud */
void
grabberCallback (const PointCloudXYZ::Ptr& cloud)
{
  if (!viewer_ptr->wasStopped ())
    viewer_ptr->showCloud (cloud);
}

/** @brief Main function
 * @return Exit status */
int
main ()
{
  viewer_ptr.reset (new CloudViewer ("Ensenso 3D cloud viewer"));
  ensenso_ptr.reset (new pcl::EnsensoGrabber);
  ensenso_ptr->openTcpPort ();
  ensenso_ptr->openDevice ();

  std::function<void (const PointCloudXYZ::Ptr&)> f = [] (const PointCloudXYZ::Ptr& cloud) { grabberCallback (cloud); };
  ensenso_ptr->registerCallback (f);
  ensenso_ptr->start ();

  while (!viewer_ptr->wasStopped ())
  {
    std::this_thread::sleep_for(1s);
    std::cout << "FPS: " << ensenso_ptr->getFramesPerSecond () << std::endl;
  }

  ensenso_ptr->closeDevice ();
  return (0);
}

