/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2023, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/io/CFileGZInputStream.h>
#include <mrpt/maps/COccupancyGridMap2D.h>
#include <mrpt/nav/planners/PlannerSimple2D.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/system/CTicTac.h>
#include <mrpt/system/filesystem.h>

#include <iostream>

using namespace mrpt;
using namespace mrpt::maps;
using namespace mrpt::nav;
using namespace mrpt::serialization;
using namespace mrpt::img;
using namespace mrpt::math;
using namespace mrpt::poses;
using namespace mrpt::io;
using namespace mrpt::system;
using namespace std;

#include <mrpt/examples_config.h>

string myGridMap(
	MRPT_EXAMPLES_BASE_DIRECTORY +
	string("../share/mrpt/datasets/2006-MalagaCampus.gridmap.gz"));

// ------------------------------------------------------
//				TestPathPlanning
// ------------------------------------------------------
void TestPathPlanning()
{
	// Load the gridmap:
	COccupancyGridMap2D gridmap;

	if (!mrpt::system::fileExists(myGridMap))
		THROW_EXCEPTION_FMT("Map file '%s' not found", myGridMap.c_str());

	printf("Loading gridmap...");
	{
		CFileGZInputStream f(myGridMap);
		auto arch = archiveFrom(f);
		arch >> gridmap;
	}
	printf(
		"Done! %f x %f m\n", gridmap.getXMax() - gridmap.getXMin(),
		gridmap.getYMax() - gridmap.getYMin());

	// Find path:
	PlannerSimple2D pathPlanning;
	pathPlanning.robotRadius = 0.30f;

	std::deque<TPoint2D> thePath;
	bool notFound;
	CTicTac tictac;

	CPose2D origin(20, -110, 0);
	CPose2D target(90, 40, 0);

	cout << "Origin: " << origin << endl;
	cout << "Target: " << target << endl;

	cout << "Searching path...";
	cout.flush();
	tictac.Tic();

	pathPlanning.computePath(gridmap, origin, target, thePath, notFound);

	double t = tictac.Tac();
	cout << "Done in " << t * 1000 << " ms" << endl;

	printf("Path found: %s\n", notFound ? "NO" : "YES");
	printf("Path has %u steps\n", (unsigned)thePath.size());

	// Save result:
	CImage img;
	gridmap.getAsImage(img, false, true);  // Force a RGB image

	// Draw the path:
	// ---------------------
	int R = round(pathPlanning.robotRadius / gridmap.getResolution());

	for (std::deque<TPoint2D>::const_iterator it = thePath.begin();
		 it != thePath.end(); ++it)
		img.drawCircle(
			gridmap.x2idx(it->x), gridmap.getSizeY() - 1 - gridmap.y2idx(it->y),
			R, TColor(0, 0, 255));

	img.drawMark(
		gridmap.x2idx(origin.x()),
		gridmap.getSizeY() - 1 - gridmap.y2idx(origin.y()),
		TColor(0x20, 0x20, 0x20), '+', 10);
	img.drawMark(
		gridmap.x2idx(target.x()),
		gridmap.getSizeY() - 1 - gridmap.y2idx(target.y()),
		TColor(0x50, 0x50, 0x50), 'x', 10);

	const std::string dest = "path_planning.png";
	cout << "Saving output to: " << dest << endl;
	img.saveToFile(dest);
	printf("Done\n");

#if MRPT_HAS_WXWIDGETS
	mrpt::gui::CDisplayWindow3D win("Computed path");
	win.setImageView(img);
	win.repaint();

	win.waitForKey();
#endif
}

int main(int argc, char** argv)
{
	try
	{
		TestPathPlanning();
		return 0;
	}
	catch (exception& e)
	{
		cout << "MRPT exception caught: " << e.what() << endl;
		return -1;
	}
	catch (...)
	{
		printf("Another exception!!");
		return -1;
	}
}
