/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2021, 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 "rawlog-edit-declarations.h"

#include <mrpt/obs/CObservation2DRangeScan.h>

using namespace mrpt;
using namespace mrpt::obs;
using namespace mrpt::system;
using namespace mrpt::rawlogtools;
using namespace mrpt::io;
using namespace std;

// ======================================================================
//		op_export_2d_scans_txt
// ======================================================================
DECLARE_OP_FUNCTION(op_export_2d_scans_txt)
{
	// A class to do this operation:
	class CRawlogProcessor_Export2DSCANS_TXT
		: public CRawlogProcessorOnEachObservation
	{
	   protected:
		string m_inFile;

		map<string, FILE*> lstFiles, lstFilesTimes;
		string m_filPrefix;

	   public:
		size_t m_entriesSaved;

		CRawlogProcessor_Export2DSCANS_TXT(
			CFileGZInputStream& in_rawlog, TCLAP::CmdLine& cmdline,
			bool Verbose)
			: CRawlogProcessorOnEachObservation(in_rawlog, cmdline, Verbose),
			  m_entriesSaved(0)
		{
			getArgValue<string>(cmdline, "input", m_inFile);

			m_filPrefix =
				extractFileDirectory(m_inFile) + extractFileName(m_inFile);
		}

		// return false on any error.
		bool processOneObservation(CObservation::Ptr& o) override
		{
			if (!IS_CLASS(*o, CObservation2DRangeScan)) return true;

			const CObservation2DRangeScan* obs =
				dynamic_cast<CObservation2DRangeScan*>(o.get());

			auto it = lstFiles.find(obs->sensorLabel);

			FILE *f_this, *f_this_times;

			if (it == lstFiles.end())  // A new file for this sensorlabel??
			{
				const std::string fileName =
					m_filPrefix + string("_") +
					fileNameStripInvalidChars(obs->sensorLabel) +
					string(".txt");

				const std::string fileNameTimes =
					m_filPrefix + string("_") +
					fileNameStripInvalidChars(obs->sensorLabel) +
					string("_times.txt");

				VERBOSE_COUT << "Writing LASER TXT file: " << fileName << endl;

				f_this = lstFiles[obs->sensorLabel] =
					os::fopen(fileName.c_str(), "wt");
				f_this_times = lstFilesTimes[obs->sensorLabel] =
					os::fopen(fileNameTimes.c_str(), "wt");
				if (!f_this || !f_this_times)
					THROW_EXCEPTION_FMT(
						"Cannot open output file for write: %s",
						fileName.c_str());
			}
			else
			{
				f_this = it->second;
				f_this_times = lstFilesTimes.find(obs->sensorLabel)->second;
			}

			// Time:
			const double sampleTime = timestampTotime_t(obs->timestamp);
			::fprintf(f_this_times, "%14.4f\n", sampleTime);

			// Ranges:
			for (size_t j = 0; j < obs->getScanSize(); j++)
				::fprintf(
					f_this, "%.6f ",
					obs->getScanRangeValidity(j) ? obs->getScanRange(j) : 0);
			::fprintf(f_this, "\n");

			m_entriesSaved++;

			return true;  // All ok
		}

		// Destructor: close files and generate summary files:
		virtual ~CRawlogProcessor_Export2DSCANS_TXT()
		{
			for (auto it = lstFiles.begin(); it != lstFiles.end(); ++it)
			{
				os::fclose(it->second);
			}

			// Save the joint file:
			// -------------------------
			VERBOSE_COUT << "Number of different 2D-SCAN sensorLabels     : "
						 << lstFiles.size() << endl;

			lstFiles.clear();
		}  // end of destructor
	};

	// Process
	// ---------------------------------
	CRawlogProcessor_Export2DSCANS_TXT proc(in_rawlog, cmdline, verbose);
	proc.doProcessRawlog();

	// Dump statistics:
	// ---------------------------------
	VERBOSE_COUT << "Time to process file (sec)        : " << proc.m_timToParse
				 << "\n";
	VERBOSE_COUT << "Number of records saved           : "
				 << proc.m_entriesSaved << "\n";
}
