/*
 * Copyright 2018 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

using System.Collections.Generic;
using System.Text.Json.Serialization;
using System.Text.Json;

namespace CartographerSharp.Models.Mapping;

/// <summary>
/// Protocol buffer representation of a 2D grid.
/// </summary>
public struct Grid2D
{
    /// <summary>
    /// Cell box for known cells.
    /// </summary>
    public struct CellBox
    {
        [JsonPropertyName("max_x")]
        public int MaxX { get; set; }

        [JsonPropertyName("max_y")]
        public int MaxY { get; set; }

        [JsonPropertyName("min_x")]
        public int MinX { get; set; }

        [JsonPropertyName("min_y")]
        public int MinY { get; set; }

        public CellBox(int maxX, int maxY, int minX, int minY)
        {
            MaxX = maxX;
            MaxY = maxY;
            MinX = minX;
            MinY = minY;
        }
    }

    [JsonPropertyName("limits")]
    public MapLimits Limits { get; set; }

    /// <summary>
    /// These values are actually int16s, but protos don't have a native int16 type.
    /// </summary>
    [JsonPropertyName("cells")]
    public List<int> Cells { get; set; }

    [JsonPropertyName("known_cells_box")]
    public CellBox KnownCellsBox { get; set; }

    /// <summary>
    /// Grid type - oneof probability_grid_2d or tsdf_2d.
    /// Using JsonPolymorphic for oneof support in System.Text.Json.
    /// </summary>
    [JsonPropertyName("probability_grid_2d")]
    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
    public ProbabilityGrid? ProbabilityGrid2D { get; set; }

    [JsonPropertyName("tsdf_2d")]
    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
    public TSDF2D? Tsdf2D { get; set; }

    [JsonPropertyName("min_correspondence_cost")]
    public double MinCorrespondenceCost { get; set; }

    [JsonPropertyName("max_correspondence_cost")]
    public double MaxCorrespondenceCost { get; set; }

    public Grid2D(
        MapLimits limits,
        List<int>? cells = null,
        CellBox knownCellsBox = default,
        ProbabilityGrid? probabilityGrid2D = null,
        TSDF2D? tsdf2D = null,
        double minCorrespondenceCost = 0.0,
        double maxCorrespondenceCost = 0.0)
    {
        Limits = limits;
        Cells = cells ?? new List<int>();
        KnownCellsBox = knownCellsBox;
        ProbabilityGrid2D = probabilityGrid2D;
        Tsdf2D = tsdf2D;
        MinCorrespondenceCost = minCorrespondenceCost;
        MaxCorrespondenceCost = maxCorrespondenceCost;
    }
}