/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2024, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/apps/BaseAppDataSource.h>
#include <mrpt/apps/BaseAppInitializableCLI.h>
#include <mrpt/apps/DataSourceRawlog.h>
#include <mrpt/config/CConfigFileBase.h>
#include <mrpt/config/CConfigFileMemory.h>
#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/system/COutputLogger.h>

#include <atomic>

namespace mrpt::apps
{
/** ICP-SLAM virtual base class for application wrappers.
 *
 * This virtual base provides the common code to the applications icp-slam and
 * icp-slam-live, and could be used by users to build their own ICP-SLAM
 * solution.
 *
 * \sa  mrpt::slam::CMetricMapBuilderICP
 * \ingroup mrpt_apps_grp
 */
class ICP_SLAM_App_Base :
    virtual public mrpt::system::COutputLogger,
    public mrpt::apps::BaseAppInitializableCLI,
    virtual public mrpt::apps::BaseAppDataSource
{
 public:
  ICP_SLAM_App_Base();

  /** @name Main API
   * @{ */

  /** Initializes the application from CLI parameters. Refer to the manpage of
   * icp-slam and icp-slam-live. Throws on errors.
   */
  void initialize(int argc, const char** argv);

  inline void initialize(int argc, char** argv)
  {
    initialize(argc, const_cast<const char**>(argv));
  }

  /** Runs with the current parameter set. Throws on errors. */
  void run();

  /** @} */

  /** @name Parameters and options. See: initialize()
   * @{ */

  /** Populated in initialize(). Can be replaced or manipulated by the user
   * after that and before run() to change the parameters loaded from INI
   * file. */
  mrpt::config::CConfigFileMemory params;

  /** If enabled (default), stdin will be watched and application quits if ESC
   * is pressed. */
  bool quits_with_esc_key = true;

  /** @} */

  /** @name Outputs and result variables
   * @{ */

  std::map<mrpt::system::TTimeStamp, mrpt::math::TPose3D> out_estimated_path;

  /** @} */
};

/** Instance of ICP_SLAM_App_Base to run mapping from an offline dataset file.
 */
class ICP_SLAM_App_Rawlog : public ICP_SLAM_App_Base, public DataSourceRawlog
{
 public:
  ICP_SLAM_App_Rawlog();

 protected:
  void impl_initialize(int argc, const char** argv) override;
  std::string impl_get_usage() const override { return "icp-slam <config_file> [dataset.rawlog]"; }
};

/** Instance of ICP_SLAM_App_Base to run mapping from a live LIDAR sensor.
 */
class ICP_SLAM_App_Live : public ICP_SLAM_App_Base
{
 public:
  ICP_SLAM_App_Live();
  virtual ~ICP_SLAM_App_Live() override;

 protected:
  void impl_initialize(int argc, const char** argv) override;
  std::string impl_get_usage() const override { return "icp-slam-live <config_file>"; }

  bool impl_get_next_observations(
      mrpt::obs::CActionCollection::Ptr& action,
      mrpt::obs::CSensoryFrame::Ptr& observations,
      mrpt::obs::CObservation::Ptr& observation) override;

  struct TThreadParams
  {
    mrpt::config::CConfigFileBase* cfgFile;
    std::string section_name;
  };

  void SensorThread(TThreadParams params);

  mrpt::hwdrivers::CGenericSensor::TListObservations m_global_list_obs;
  std::mutex m_cs_global_list_obs;
  std::atomic_bool m_allThreadsMustExit = false;
};

}  // namespace mrpt::apps
