/*
 * 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.Text.Json.Serialization;

namespace CartographerSharp.Models.Mapping;

/// <summary>
/// Protocol buffer representation of range data inserter options.
/// </summary>
public struct RangeDataInserterOptions
{
    public enum RangeDataInserterType
    {
        InvalidInserter = 0,
        ProbabilityGridInserter2D = 1,
        TsdfInserter2D = 2
    }

    [JsonPropertyName("range_data_inserter_type")]
    public RangeDataInserterType RangeDataInserterTypeValue { get; set; }

    [JsonPropertyName("probability_grid_range_data_inserter_options_2d")]
    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
    public ProbabilityGridRangeDataInserterOptions2D? ProbabilityGridRangeDataInserterOptions2D { get; set; }

    [JsonPropertyName("tsdf_range_data_inserter_options_2d")]
    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
    public TSDFRangeDataInserterOptions2D? TsdfRangeDataInserterOptions2D { get; set; }

    public RangeDataInserterOptions(
        RangeDataInserterType rangeDataInserterType,
        ProbabilityGridRangeDataInserterOptions2D? probabilityGridRangeDataInserterOptions2D = null,
        TSDFRangeDataInserterOptions2D? tsdfRangeDataInserterOptions2D = null)
    {
        RangeDataInserterTypeValue = rangeDataInserterType;
        ProbabilityGridRangeDataInserterOptions2D = probabilityGridRangeDataInserterOptions2D;
        TsdfRangeDataInserterOptions2D = tsdfRangeDataInserterOptions2D;
    }
}