/*
 * Copyright 2016 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.Text.Json.Serialization;

namespace CartographerSharp.Models.Mapping;

/// <summary>
/// Protocol buffer representation of map builder options.
/// </summary>
public struct MapBuilderOptions
{
    [JsonPropertyName("use_trajectory_builder_2d")]
    public bool UseTrajectoryBuilder2D { get; set; }

    [JsonPropertyName("use_trajectory_builder_3d")]
    public bool UseTrajectoryBuilder3D { get; set; }

    /// <summary>
    /// Number of threads to use for background computations.
    /// </summary>
    [JsonPropertyName("num_background_threads")]
    public int NumBackgroundThreads { get; set; }

    [JsonPropertyName("pose_graph_options")]
    public PoseGraphOptions PoseGraphOptions { get; set; }

    /// <summary>
    /// Sort sensor input independently for each trajectory.
    /// </summary>
    [JsonPropertyName("collate_by_trajectory")]
    public bool CollateByTrajectory { get; set; }

    public MapBuilderOptions(
        bool useTrajectoryBuilder2D = true,
        bool useTrajectoryBuilder3D = false,
        int numBackgroundThreads = 4,
        PoseGraphOptions? poseGraphOptions = null,
        bool collateByTrajectory = false)
    {
        UseTrajectoryBuilder2D = useTrajectoryBuilder2D;
        UseTrajectoryBuilder3D = useTrajectoryBuilder3D;
        NumBackgroundThreads = numBackgroundThreads;
        PoseGraphOptions = poseGraphOptions ?? new PoseGraphOptions();
        CollateByTrajectory = collateByTrajectory;
    }
}