/* +------------------------------------------------------------------------+
   |                     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          |
   +------------------------------------------------------------------------+ */

#ifndef HOLONOMIC_NAVIGATOR_DEMOMAIN_H
#define HOLONOMIC_NAVIGATOR_DEMOMAIN_H

//(*Headers(holonomic_navigator_demoFrame)
#include <wx/frame.h>
#include <wx/menu.h>
#include <wx/notebook.h>
#include <wx/panel.h>
#include <wx/radiobox.h>
#include <wx/sizer.h>
#include <wx/stattext.h>
#include <wx/statusbr.h>
#include <wx/textctrl.h>
#include <wx/things/toggle.h>
#include <wx/timer.h>

#include "MyGLCanvas.h"
//*)

#include <mrpt/maps/COccupancyGridMap2D.h>
#include <mrpt/nav.h>
#include <mrpt/opengl/CDisk.h>
#include <mrpt/opengl/CPlanarLaserScan.h>  // It's in the lib mrpt-maps
#include <mrpt/opengl/CPointCloud.h>
#include <mrpt/opengl/CSetOfLines.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/opengl/CSimpleLine.h>

#include <memory>  // unique_ptr

// JLBC: Unix X headers have these funny things...
#ifdef Button1
#undef Button1
#undef Button2
#undef Button3
#undef Button4
#undef Button5
#undef Button6
#undef Button7
#endif
// To avoid conflicts between Eigen & X11 headers
#ifdef Success
#undef Success
#endif

class holonomic_navigator_demoFrame : public wxFrame
{
   public:
	holonomic_navigator_demoFrame(wxWindow* parent, wxWindowID id = -1);
	~holonomic_navigator_demoFrame() override;

   private:
	//(*Handlers(holonomic_navigator_demoFrame)
	void OnQuit(wxCommandEvent& event);
	void OnAbout(wxCommandEvent& event);
	void OnbtnPlaceRobotClick(wxCommandEvent& event);
	void OnbtnPlaceTargetClick(wxCommandEvent& event);
	void OnbtnStartClick(wxCommandEvent& event);
	void OnbtnStopClick(wxCommandEvent& event);
	void OntimRunSimulTrigger(wxTimerEvent& event);
	void OnMenuItemChangeVisibleStuff(wxCommandEvent& event);
	void OnMenuItemClearRobotPath(wxCommandEvent& event);
	void OnbtnLoadMapClick(wxCommandEvent& event);
	//*)

	//(*Identifiers(holonomic_navigator_demoFrame)
	static const long ID_BUTTON1;
	static const long ID_BUTTON2;
	static const long ID_BUTTON3;
	static const long ID_BUTTON6;
	static const long ID_BUTTON7;
	static const long ID_BUTTON4;
	static const long ID_BUTTON5;
	static const long ID_RADIOBOX1;
	static const long ID_TEXTCTRL1;
	static const long ID_PANEL1;
	static const long ID_PANEL2;
	static const long ID_NOTEBOOK1;
	static const long ID_STATICTEXT2;
	static const long ID_STATICTEXT1;
	static const long ID_XY_GLCANVAS;
	static const long ID_CUSTOM1;
	static const long ID_TEXTCTRL2;
	static const long ID_MENUITEM4;
	static const long idMenuQuit;
	static const long ID_MENUITEM1;
	static const long ID_MENUITEM2;
	static const long ID_MENUITEM3;
	static const long idMenuAbout;
	static const long ID_STATUSBAR1;
	static const long ID_TIMER1;
	//*)

	//(*Declarations(holonomic_navigator_demoFrame)
	wxTimer timRunSimul;
	wxTextCtrl* edInfoLocalView;
	wxCustomButton* btnStop;
	wxNotebook* Notebook1;
	wxRadioBox* rbHoloMethod;
	wxMenuItem* MenuItem5;
	wxStaticText* StaticText2;
	wxCustomButton* btnStart;
	wxMenu* Menu3;
	wxTextCtrl* edHoloParams;
	wxCustomButton* btnLoadMap;
	wxCustomButton* btnQuit;
	wxPanel* Panel1;
	wxStaticText* StaticText1;
	wxMenuItem* MenuItem3;
	wxMenuItem* mnuViewRobotPath;
	wxStatusBar* StatusBar1;
	wxCustomButton* btnHelp;
	wxCustomButton* btnPlaceRobot;
	wxPanel* Panel2;
	wxMenuItem* mnuViewMaxRange;
	wxCustomButton* btnPlaceTarget;
	CMyGLCanvas* m_plotScan;
	CMyGLCanvas* m_plot3D;
	//*)

	DECLARE_EVENT_TABLE()

	/* Methods: */
	void updateMap3DView();
	void reinitSimulator();	 // Create navigator object & load params from GUI
	void simulateOneStep(double time_step);
	void updateViewsDynamicObjects();  // Update 3D object positions and refresh
	// views.

	void Onplot3DMouseClick(wxMouseEvent& event);
	void Onplot3DMouseMove(wxMouseEvent& event);

	/* Vars: */
	struct TOptions : public mrpt::config::CLoadableOptions
	{
		double ROBOT_MAX_SPEED{4.0};
		double MAX_SENSOR_RADIUS{5.0};
		uint64_t SENSOR_NUM_RANGES{181};
		double SENSOR_RANGE_NOISE_STD{0.02};

		TOptions() = default;
		void loadFromConfigFile(
			const mrpt::config::CConfigFileBase& source,
			const std::string& section) override;  // See base docs
		void saveToConfigFile(
			mrpt::config::CConfigFileBase& source,
			const std::string& section) const override;	 // See base docs
	};

	TOptions m_simul_options;

	/**  The state of the cursor onto the 3D view:
	 */
	enum TCursorPickState
	{
		cpsNone = 0,
		cpsPickTarget,
		cpsPlaceRobot
	};

	std::unique_ptr<mrpt::nav::CAbstractHolonomicReactiveMethod>
		m_holonomicMethod;
	mrpt::maps::COccupancyGridMap2D m_gridMap;
	mrpt::math::TPoint2D m_targetPoint;
	mrpt::math::TPose2D m_robotPose;

	mrpt::system::CTicTac m_runtime;
	/** Of the cursor on the 3D view (in world coordinates at Z=0) */
	mrpt::math::TPoint2D m_curCursorPos;
	/** The state of the cursor onto the 3D view: */
	TCursorPickState m_cursorPickState;

	// ========= Opengl View: Map & robot  =======
	mrpt::opengl::CSetOfObjects::Ptr gl_grid;
	mrpt::opengl::CSetOfObjects::Ptr gl_robot, gl_target;
	mrpt::opengl::CSetOfObjects::Ptr m_gl_placing_nav_target;
	mrpt::opengl::CSetOfObjects::Ptr m_gl_placing_robot;
	mrpt::opengl::CDisk::Ptr gl_robot_sensor_range;
	mrpt::opengl::CSetOfLines::Ptr gl_robot_path;
	mrpt::opengl::CPlanarLaserScan::Ptr gl_scan3D, gl_scan2D;
	mrpt::opengl::CPointCloud::Ptr gl_path;

	// ========= Opengl View: Local view (holonomic)  =======
	mrpt::opengl::CSimpleLine::Ptr gl_line_direction;
	mrpt::opengl::CPointCloud::Ptr gl_rel_target;
	mrpt::opengl::CSetOfLines::Ptr gl_nd_gaps;
};

#endif	// HOLONOMIC_NAVIGATOR_DEMOMAIN_H
