/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2023, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

// ===========================================================================
//  Program: carmen2rawlog
//
//  Intention: A converter from CARMEN log text files to binary Rawlog files
//  See the "--help" output for list of supported operations and further
//   instructions.
//
//  About integration with bash/.BAT scripts: The program will return 0 upon
//   successful execution. Upon error, it will return -1.
//
//  Started: JLBC @ Aug-2010
// ===========================================================================

#include <mrpt/3rdparty/tclap/CmdLine.h>
#include <mrpt/io/CFileGZOutputStream.h>
#include <mrpt/math/TPose2D.h>
#include <mrpt/obs/CObservationOdometry.h>
#include <mrpt/obs/carmen_log_tools.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/system/datetime.h>
#include <mrpt/system/filesystem.h>
#include <mrpt/system/os.h>

#include <fstream>
#include <map>

using namespace mrpt;
using namespace mrpt::obs;
using namespace mrpt::math;
using namespace mrpt::system;
using namespace std;

// Declare the supported command line switches ===========
TCLAP::CmdLine cmd("carmen2rawlog", ' ', MRPT_getVersion().c_str());

TCLAP::SwitchArg arg_overwrite(
	"w", "overwrite", "Force overwrite target file without prompting.", cmd,
	false);
TCLAP::SwitchArg arg_quiet("q", "quiet", "Terse output", cmd, false);
TCLAP::ValueArg<std::string> arg_output_file(
	"o", "output", "Output dataset (*.rawlog)", true, "", "dataset_out.rawlog",
	cmd);
TCLAP::ValueArg<std::string> arg_input_file(
	"i", "input", "Input dataset (required) (*.log)", true, "", "carmen.log",
	cmd);

TCLAP::ValueArg<int> arg_gz_level(
	"z", "compress-level", "Output GZ-compress level (optional)", false, 5,
	"0: none, 1-9: min-max", cmd);

// Declarations:
#define VERBOSE_COUT                                                           \
	if (verbose) cout << "[carmen2rawlog] "

// -----------------------------------------------
//				MAIN
// -----------------------------------------------
int main(int argc, char** argv)
{
	try
	{
		// Parse arguments:
		if (!cmd.parse(argc, argv))
			throw std::runtime_error("");  // should exit.

		const string input_log = arg_input_file.getValue();
		const string output_rawlog = arg_output_file.getValue();
		const bool verbose = !arg_quiet.getValue();
		const bool overwrite = arg_overwrite.getValue();
		const int compress_level = arg_gz_level.getValue();

		// Check files:
		if (!mrpt::system::fileExists(input_log))
			throw runtime_error(
				format("Input file doesn't exist: '%s'", input_log.c_str()));

		if (mrpt::system::fileExists(output_rawlog) && !overwrite)
			throw runtime_error(format(
				"Output file already exist: '%s' (Use --overwrite to "
				"override)",
				output_rawlog.c_str()));

		VERBOSE_COUT << "Input log        : " << input_log << endl;
		VERBOSE_COUT << "Output rawlog    : " << output_rawlog
					 << " (Compression level: " << compress_level << ")\n";

		// Open I/O streams:
		std::ifstream input_stream(input_log.c_str());
		if (!input_stream.is_open())
			throw runtime_error(
				format("Error opening for read: '%s'", input_log.c_str()));

		mrpt::io::CFileGZOutputStream out_rawlog;
		if (!out_rawlog.open(output_rawlog, compress_level))
			throw runtime_error(
				format("Error opening for write: '%s'", output_rawlog.c_str()));

		// --------------------------------
		// The main loop
		// --------------------------------
		vector<CObservation::Ptr> importedObservations;
		map<TTimeStamp, TPose2D> groundTruthPoses;	// If found...
		unsigned int nSavedObs = 0;

		const mrpt::system::TTimeStamp base_timestamp = mrpt::system::now();

		const uint64_t totalInFileSize = mrpt::system::getFileSize(input_log);
		int decimateUpdateConsole = 0;

		while (carmen_log_parse_line(
			input_stream, importedObservations, base_timestamp))
		{
			for (size_t i = 0; i < importedObservations.size(); i++)
			{
				mrpt::serialization::archiveFrom(out_rawlog)
					<< *importedObservations[i];
				nSavedObs++;

				// by the way: if we have an "odometry" observation but it's not
				// alone, it's probably
				//  a "corrected" odometry from some SLAM program, so save it as
				//  ground truth:
				if (importedObservations.size() > 1 &&
					IS_CLASS(*importedObservations[i], CObservationOdometry))
				{
					CObservationOdometry::Ptr odo =
						std::dynamic_pointer_cast<CObservationOdometry>(
							importedObservations[i]);
					groundTruthPoses[odo->timestamp] = odo->odometry.asTPose();
				}
			}

			// Update progress in the console:
			// ----------------------------------
			if (verbose && ++decimateUpdateConsole > 10)
			{
				decimateUpdateConsole = 0;

				const std::streampos curPos = input_stream.tellg();
				const double progress_ratio =
					double(curPos) / double(totalInFileSize);
				static const int nBlocksTotal = 50;
				const int nBlocks = progress_ratio * nBlocksTotal;
				cout << "\rProgress: [" << string(nBlocks, '#')
					 << string(nBlocksTotal - nBlocks, ' ')
					 << format(
							"] %6.02f%% (%u objects)", progress_ratio * 100,
							nSavedObs);
				cout.flush();
			}
		};
		cout << "\n";

		// If we had ground-truth robot poses, save to file:
		if (!groundTruthPoses.empty())
		{
			const string gt_filename =
				mrpt::system::fileNameChangeExtension(output_rawlog, "gt.txt");
			cout << "Note: Saving ground truth pose information to '"
				 << gt_filename << "'\n";

			std::ofstream gt_file;
			gt_file.open(gt_filename.c_str());
			if (!gt_file.is_open())
				throw std::runtime_error(format(
					"Couldn't open output file for ground truth: '%s'",
					gt_filename.c_str()));
			gt_file
				<< "%          Ground truth positioning data \n"
				   "%  Timestamp (sec)       x (m)    y (m)    phi (rad)  \n"
				   "% ----------------------------------------------------\n";
			for (auto it = groundTruthPoses.begin();
				 it != groundTruthPoses.end(); ++it)
				gt_file << format(
					"   %12.06f %9.03f %9.03f %9.04f\n",
					mrpt::system::timestampToDouble(it->first), it->second.x,
					it->second.y, it->second.phi);
		}

		// successful end of program.
		return 0;
	}
	catch (const std::exception& e)
	{
		std::cerr << mrpt::exception_to_str(e) << std::endl;
		return -1;
	}
}
