/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Simulation of a 2D visual servoing on a circle.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/
/*!
  \file servoSimuCircle2DCamVelocity.cpp
  \brief Servo a circle:
  - eye-in-hand control law,
  - velocity computed in the camera frame,
  - without display.

*/

/*!
  \example servoSimuCircle2DCamVelocity.cpp
  Servo a circle:
  - eye-in-hand control law,
  - velocity computed in the camera frame,
  - without display.

*/

#include <stdio.h>
#include <stdlib.h>

#include <visp3/core/vpCircle.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMath.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/robot/vpSimulatorCamera.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureEllipse.h>
#include <visp3/vs/vpServo.h>

// List of allowed command line options
#define GETOPTARGS "h"

void usage(const char *name, const char *badparam);
bool getOptions(int argc, const char **argv);

/*!

Print the program options.

  \param name : Program name.
  \param badparam : Bad parameter name.

*/
void usage(const char *name, const char *badparam)
{
  fprintf(stdout, "\n\
Simulation of a 2D visual servoing on a circle:\n\
- eye-in-hand control law,\n\
- velocity computed in the camera frame,\n\
- without display.\n\
          \n\
SYNOPSIS\n\
  %s [-h]\n", name);

  fprintf(stdout, "\n\
OPTIONS:                                               Default\n\
                  \n\
  -h\n\
     Print the help.\n");

  if (badparam)
    fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}

/*!

Set the program options.

  \param argc : Command line number of parameters.
  \param argv : Array of command line parameters.
  \return false if the program has to be stopped, true otherwise.

*/
bool getOptions(int argc, const char **argv)
{
  const char *optarg_;
  int c;
  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {

    switch (c) {
    case 'h':
      usage(argv[0], NULL);
      return false;
      break;

    default:
      usage(argv[0], optarg_);
      return false;
      break;
    }
  }

  if ((c == 1) || (c == -1)) {
    // standalone param or error
    usage(argv[0], NULL);
    std::cerr << "ERROR: " << std::endl;
    std::cerr << "  Bad argument " << optarg_ << std::endl << std::endl;
    return false;
  }

  return true;
}

int main(int argc, const char **argv)
{
  try {
    // Read the command line options
    if (getOptions(argc, argv) == false) {
      exit(-1);
    }

    vpServo task;
    vpSimulatorCamera robot;

    std::cout << std::endl;
    std::cout << "-------------------------------------------------------" << std::endl;
    std::cout << " Test program for vpServo " << std::endl;
    std::cout << " Simulation " << std::endl;
    std::cout << " task : servo a circle " << std::endl;
    std::cout << "-------------------------------------------------------" << std::endl;
    std::cout << std::endl;

    // sets the initial camera location
    vpHomogeneousMatrix cMo;
    cMo[0][3] = 0.1;
    cMo[1][3] = 0.2;
    cMo[2][3] = 2;

    vpHomogeneousMatrix wMc, wMo;
    robot.getPosition(wMc);
    wMo = wMc * cMo; // Compute the position of the object in the world frame

    vpHomogeneousMatrix cMod;
    cMod[0][3] = 0;
    cMod[1][3] = 0;
    cMod[2][3] = 1;

    // sets the circle coordinates in the world frame
    vpCircle circle;
    circle.setWorldCoordinates(0, 0, 1, 0, 0, 0, 0.1);

    // sets the desired position of the visual feature
    vpFeatureEllipse pd;
    circle.track(cMod);
    vpFeatureBuilder::create(pd, circle);

    // project : computes  the circle coordinates in the camera frame and its
    // 2D coordinates

    // sets the current position of the visual feature
    vpFeatureEllipse p;
    circle.track(cMo);
    vpFeatureBuilder::create(p, circle);

    // define the task
    // - we want an eye-in-hand control law
    // - robot is controlled in the camera frame
    task.setServo(vpServo::EYEINHAND_CAMERA);

    // - we want to see a circle on a circle
    std::cout << std::endl;
    task.addFeature(p, pd);

    // - set the gain
    task.setLambda(1);

    // Display task information
    task.print();

    unsigned int iter = 0;
    // loop
    while (iter++ < 500) {
      std::cout << "---------------------------------------------" << iter << std::endl;
      vpColVector v;

      // get the robot position
      robot.getPosition(wMc);
      // Compute the position of the object frame in the camera frame
      cMo = wMc.inverse() * wMo;

      // new circle position: retrieve x,y and Z of the vpCircle structure
      circle.track(cMo);
      vpFeatureBuilder::create(p, circle);

      // compute the control law
      v = task.computeControlLaw();
      std::cout << "task rank: " << task.getTaskRank() << std::endl;
      // send the camera velocity to the controller
      robot.setVelocity(vpRobot::CAMERA_FRAME, v);

      std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;
    }

    // Display task information
    task.print();
    task.kill();
    return EXIT_SUCCESS;
  } catch (const vpException &e) {
    std::cout << "Catch a ViSP exception: " << e << std::endl;
    return EXIT_FAILURE;
  }
}