/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011, Willow Garage, Inc.
 *  All rights reserved.
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 *  Redistribution and use in source and binary forms, with or without
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 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 *
 *  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
 */

#ifndef PCL_GPU_OCTREE_INTERNAL_HPP_
#define PCL_GPU_OCTREE_INTERNAL_HPP_

#include <pcl/gpu/containers/device_array.h>
#include <pcl/gpu/octree/device_format.hpp>
#include <pcl/gpu/utils/safe_call.hpp>

namespace pcl
{
    namespace device
    {   
        struct OctreeGlobal
        {             
            int *nodes;
            int *codes;
            int *begs;
            int *ends;

            int *nodes_num;

            int *parent;

            OctreeGlobal() : nodes(nullptr), codes(nullptr), begs(nullptr), ends(nullptr), nodes_num(nullptr), parent(nullptr) {}
        };

        struct OctreeGlobalWithBox : public OctreeGlobal
        {    
            float3 minp, maxp;    
        };


        class OctreeImpl
        {
        public:
            using PointType = float4;
            using PointArray = DeviceArray<PointType>;

            using PointCloud = PointArray;
            using Queries = PointArray;
                       
            using Radiuses = DeviceArray<float>;
            using BatchResult = DeviceArray<int>;            
            using BatchResultSizes = DeviceArray<int>;
            using BatchResultSqrDists = DeviceArray<float>;
            using Indices = DeviceArray<int>;

            using NeighborIndices = pcl::gpu::NeighborIndices;

            static void get_gpu_arch_compiled_for(int& bin, int& ptr);

            OctreeImpl() {};
            ~OctreeImpl() {};

            void setCloud(const PointCloud& input_points);           
            void build();
            void radiusSearchHost(const PointType& center, float radius, std::vector<int>& out, int max_nn) const;
            void approxNearestSearchHost(const PointType& query, int& out_index, float& sqr_dist) const;
            
            void radiusSearch(const Queries& queries, float radius, NeighborIndices& results);
            void radiusSearch(const Queries& queries, const Radiuses& radiuses, NeighborIndices& results);

            void radiusSearch(const Queries& queries, const Indices& indices, float radius, NeighborIndices& results);

            void approxNearestSearch(const Queries& queries, NeighborIndices& results, BatchResultSqrDists& sqr_distance) const;
            
            void nearestKSearchBatch(const Queries& queries, int k, NeighborIndices& results, BatchResultSqrDists& sqr_distances) const;
            
            //just reference 
            PointCloud points;

            // data
            DeviceArray2D<float> points_sorted;
            DeviceArray<int> codes;
            DeviceArray<int> indices;
                        
            OctreeGlobalWithBox octreeGlobal;    

            //storage
            DeviceArray2D<int> storage;            

            struct OctreeDataHost
            {
                std::vector<int> nodes;
                std::vector<int> codes;	

                std::vector<int> begs;
                std::vector<int> ends;	
                

                std::vector<int> indices;	
                
                std::vector<float> points_sorted;
                int points_sorted_step;

                int downloaded;

            } host_octree;

                        
            void internalDownload(); 
        private:
            template<typename BatchType>
            void radiusSearchEx(BatchType& batch, const Queries& queries, NeighborIndices& results);
        };

        void bruteForceRadiusSearch(const OctreeImpl::PointCloud& cloud, const OctreeImpl::PointType& query, float radius, DeviceArray<int>& result, DeviceArray<int>& buffer);

    }
}

#endif /* PCL_GPU_OCTREE_INTERNAL_HPP_ */
