/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
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 * 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 Willow Garage, Inc. 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
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 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 */

#ifndef RVIZ_COMMON__VALIDATE_FLOATS_HPP_
#define RVIZ_COMMON__VALIDATE_FLOATS_HPP_

#include <array>
#include <cmath>
#include <vector>

#include <OgreVector.h>
#include <OgreQuaternion.h>

#include "geometry_msgs/msg/point_stamped.hpp"
#include "geometry_msgs/msg/point32.hpp"
#include "geometry_msgs/msg/vector3.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "std_msgs/msg/color_rgba.hpp"

namespace rviz_common
{

inline bool validateFloats(float val)
{
  return !(std::isnan(val) || std::isinf(val));
}

inline bool validateFloats(double val)
{
  return !(std::isnan(val) || std::isinf(val));
}

inline bool validateFloats(const Ogre::Vector3 & vec)
{
  bool valid = true;
  valid = valid && validateFloats(vec.x);
  valid = valid && validateFloats(vec.y);
  valid = valid && validateFloats(vec.z);
  return valid;
}

inline bool validateFloats(const Ogre::Quaternion & quat)
{
  bool valid = true;
  valid = valid && validateFloats(quat.x);
  valid = valid && validateFloats(quat.y);
  valid = valid && validateFloats(quat.z);
  valid = valid && validateFloats(quat.w);
  return valid;
}

inline bool validateFloats(const geometry_msgs::msg::Point & msg)
{
  bool valid = true;
  valid = valid && validateFloats(msg.x);
  valid = valid && validateFloats(msg.y);
  valid = valid && validateFloats(msg.z);
  return valid;
}

inline bool validateFloats(const geometry_msgs::msg::Point32 & msg)
{
  bool valid = true;
  valid = valid && validateFloats(msg.x);
  valid = valid && validateFloats(msg.y);
  valid = valid && validateFloats(msg.z);
  return valid;
}

inline bool validateFloats(const geometry_msgs::msg::Vector3 & msg)
{
  bool valid = true;
  valid = valid && validateFloats(msg.x);
  valid = valid && validateFloats(msg.y);
  valid = valid && validateFloats(msg.z);
  return valid;
}

inline bool validateFloats(const geometry_msgs::msg::Twist & twist)
{
  bool valid = true;
  valid = valid && validateFloats(twist.linear);
  valid = valid && validateFloats(twist.angular);
  return valid;
}

inline bool validateFloats(const geometry_msgs::msg::Quaternion & msg)
{
  bool valid = true;
  valid = valid && validateFloats(msg.x);
  valid = valid && validateFloats(msg.y);
  valid = valid && validateFloats(msg.z);
  valid = valid && validateFloats(msg.w);
  return valid;
}

inline bool validateFloats(const std_msgs::msg::ColorRGBA & msg)
{
  bool valid = true;
  valid = valid && validateFloats(msg.r);
  valid = valid && validateFloats(msg.g);
  valid = valid && validateFloats(msg.b);
  valid = valid && validateFloats(msg.a);
  return valid;
}

inline bool validateFloats(const geometry_msgs::msg::PointStamped & msg)
{
  return validateFloats(msg.point);
}

inline bool validateFloats(const geometry_msgs::msg::Pose & msg)
{
  bool valid = true;
  valid = valid && validateFloats(msg.position);
  valid = valid && validateFloats(msg.orientation);
  return valid;
}

inline bool validateFloats(const geometry_msgs::msg::PoseStamped & msg)
{
  return validateFloats(msg.pose);
}

template<typename T>
inline bool validateFloats(const std::vector<T> & vec)
{
  typedef std::vector<T> VecType;
  typename VecType::const_iterator it = vec.begin();
  typename VecType::const_iterator end = vec.end();
  for (; it != end; ++it) {
    if (!validateFloats(*it)) {
      return false;
    }
  }

  return true;
}

template<typename T, size_t N>
inline bool validateFloats(const std::array<T, N> & arr)
{
  typedef std::array<T, N> ArrType;
  typename ArrType::const_iterator it = arr.begin();
  typename ArrType::const_iterator end = arr.end();
  for (; it != end; ++it) {
    if (!validateFloats(*it)) {
      return false;
    }
  }

  return true;
}

}  // namespace rviz_common

#endif  // RVIZ_COMMON__VALIDATE_FLOATS_HPP_
