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/* Author: Ioan Sucan */

#ifndef OMPL_CONTROL_CONTROL_SPACE_
#define OMPL_CONTROL_CONTROL_SPACE_

#include "ompl/base/StateSpace.h"
#include "ompl/control/Control.h"
#include "ompl/control/ControlSampler.h"
#include "ompl/control/ControlSpaceTypes.h"
#include "ompl/util/Console.h"
#include "ompl/util/ClassForward.h"
#include <boost/concept_check.hpp>
#include <iostream>
#include <vector>

namespace ompl
{
    namespace control
    {
        /// @cond IGNORE
        /** \brief Forward declaration of ompl::control::ControlSpace */
        OMPL_CLASS_FORWARD(ControlSpace);
        /// @endcond

        /** \class ompl::control::ControlSpacePtr
            \brief A shared pointer wrapper for ompl::control::ControlSpace */

        /** \brief A control space representing the space of applicable controls */
        class ControlSpace
        {
        public:
            /** \brief Define the type of control allocated by this control space */
            using ControlType = ompl::control::Control;

            // non-copyable
            ControlSpace(const ControlSpace &) = delete;
            ControlSpace &operator=(const ControlSpace &) = delete;

            /** \brief Construct a control space, given the state space */
            ControlSpace(base::StateSpacePtr stateSpace);

            virtual ~ControlSpace();

            /** \brief Cast this instance to a desired type. */
            template <class T>
            T *as()
            {
                /** \brief Make sure the type we are casting to is indeed a control space */
                BOOST_CONCEPT_ASSERT((boost::Convertible<T *, ControlSpace *>));

                return static_cast<T *>(this);
            }

            /** \brief Cast this instance to a desired type. */
            template <class T>
            const T *as() const
            {
                /** \brief Make sure the type we are casting to is indeed a control space */
                BOOST_CONCEPT_ASSERT((boost::Convertible<T *, ControlSpace *>));

                return static_cast<const T *>(this);
            }

            /** \brief Get the name of the control space */
            const std::string &getName() const;

            /** \brief Set the name of the control space */
            void setName(const std::string &name);

            /** \brief Get the type of the control space. The type can be
                used to verify whether two space instances are of
                the same type */
            int getType() const
            {
                return type_;
            }

            /** \brief Return the state space this control space depends on */
            const base::StateSpacePtr &getStateSpace() const
            {
                return stateSpace_;
            }

            /** \brief Get the dimension of this control space */
            virtual unsigned int getDimension() const = 0;

            /** \brief Allocate memory for a control */
            virtual Control *allocControl() const = 0;

            /** \brief Free the memory of a control */
            virtual void freeControl(Control *control) const = 0;

            /** \brief Copy a control to another */
            virtual void copyControl(Control *destination, const Control *source) const = 0;

            /** \brief Check if two controls are the same */
            virtual bool equalControls(const Control *control1, const Control *control2) const = 0;

            /** \brief Make the control have no effect if it were to be applied to a state for any amount of time. */
            virtual void nullControl(Control *control) const = 0;

            /** \brief Allocate the default control sampler */
            virtual ControlSamplerPtr allocDefaultControlSampler() const = 0;

            /** \brief Allocate an instance of the control sampler for this space. This sampler will be allocated with
               the
                sampler allocator that was previously specified by setControlSamplerAllocator() or, if no sampler
               allocator was specified,
                allocDefaultControlSampler() is called */
            virtual ControlSamplerPtr allocControlSampler() const;

            /** \brief Set the sampler allocator to use */
            void setControlSamplerAllocator(const ControlSamplerAllocator &csa);

            /** \brief Clear the control sampler allocator (reset to default) */
            void clearControlSamplerAllocator();

            /** \brief Many controls contain a number of double values. This function provides a means to get the
                memory address of a double value from a control \e control located at position \e index. The first
               double value
                is returned for \e index = 0. If \e index is too large (does not point to any double values in the
               control),
                the return value is nullptr. */
            virtual double *getValueAddressAtIndex(Control *control, unsigned int index) const;

            /** \brief Print a control to a stream */
            virtual void printControl(const Control *control, std::ostream &out) const;

            /** \brief Print the settings for this control space to a stream */
            virtual void printSettings(std::ostream &out) const;

            /** \brief Perform final setup steps. This function is automatically called by the SpaceInformation */
            virtual void setup();

            /** \brief Returns the serialization size for a single control in this space */
            virtual unsigned int getSerializationLength() const;

            /** \brief Serializes the given control into the serialization buffer. */
            virtual void serialize(void *serialization, const Control *ctrl) const;

            /** \brief Deserializes a control from the serialization buffer. */
            virtual void deserialize(Control *ctrl, const void *serialization) const;

            /** \brief Compute an array of ints that uniquely identifies the structure of the control space.
                The first element of the signature is the number of integers that follow */
            void computeSignature(std::vector<int> &signature) const;

            /** \brief Check if the control space is compound */
            virtual bool isCompound() const;

        protected:
            /** \brief A type assigned for this control space */
            int type_;

            /** \brief The state space controls can be applied to */
            base::StateSpacePtr stateSpace_;

            /** \brief An optional control sampler allocator */
            ControlSamplerAllocator csa_;

        private:
            /** \brief The name of this control space */
            std::string name_;
        };

        /** \brief A control space to allow the composition of control spaces */
        class CompoundControlSpace : public ControlSpace
        {
        public:
            /** \brief Define the type of control allocated by this control space */
            using ControlType = ompl::control::CompoundControl;

            /** \brief Constructor. The corresponding state space needs to be specified. */
            CompoundControlSpace(const base::StateSpacePtr &stateSpace)
              : ControlSpace(stateSpace), componentCount_(0), locked_(false)
            {
            }

            ~CompoundControlSpace() override = default;

            /** \brief Cast a component of this instance to a desired type. */
            template <class T>
            T *as(const unsigned int index) const
            {
                /** \brief Make sure the type we are casting to is indeed a control space */
                BOOST_CONCEPT_ASSERT((boost::Convertible<T *, ControlSpace *>));

                return static_cast<T *>(getSubspace(index).get());
            }

            /** \brief Adds a control space as a component of the compound control space. */
            virtual void addSubspace(const ControlSpacePtr &component);

            /** \brief Get the number of control spaces that make up the compound control space */
            unsigned int getSubspaceCount() const;

            /** \brief Get a specific subspace from the compound control space */
            const ControlSpacePtr &getSubspace(unsigned int index) const;

            /** \brief Get a specific subspace from the compound control space */
            const ControlSpacePtr &getSubspace(const std::string &name) const;

            unsigned int getDimension() const override;

            Control *allocControl() const override;

            void freeControl(Control *control) const override;

            void copyControl(Control *destination, const Control *source) const override;

            bool equalControls(const Control *control1, const Control *control2) const override;

            void nullControl(Control *control) const override;

            ControlSamplerPtr allocDefaultControlSampler() const override;

            double *getValueAddressAtIndex(Control *control, unsigned int index) const override;

            void printControl(const Control *control, std::ostream &out = std::cout) const override;

            void printSettings(std::ostream &out) const override;

            void setup() override;

            /** \brief Returns the serialization size for a single control in this space */
            unsigned int getSerializationLength() const override;

            /** \brief Serializes the given control into the serialization buffer. */
            void serialize(void *serialization, const Control *ctrl) const override;

            /** \brief Deserializes a control from the serialization buffer. */
            void deserialize(Control *ctrl, const void *serialization) const override;

            bool isCompound() const override;

            /** \brief Lock this control space. This means no further
             control spaces can be added as components.  This function can
             be for instance called from the constructor of a state space
             that inherits from CompoundControlSpace to prevent the
             user to add further components. */
            void lock();

        protected:
            /** \brief The component control spaces that make up the compound control space */
            std::vector<ControlSpacePtr> components_;

            /** \brief The number of contained components */
            unsigned int componentCount_;

            /** \brief Flag indicating whether adding further components is allowed or not */
            bool locked_;
        };
    }
}

#endif
