// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
//
// This file is part of g2o.
//
// g2o is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// g2o is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with g2o.  If not, see <http://www.gnu.org/licenses/>.

#ifndef G2O_MAIN_WINDOW_H
#define G2O_MAIN_WINDOW_H

#include <vector>

#include "g2o/core/optimization_algorithm_property.h"
#include "g2o_viewer_api.h"
#include "ui_base_main_window.h"

class ViewerPropertiesWidget;
class PropertiesWidget;

namespace g2o {
class DlWrapper;
class OptimizationAlgorithm;
}  // namespace g2o

/**
 * \brief main window of the g2o viewer
 */
class G2O_VIEWER_API MainWindow : public QMainWindow,
                                  public Ui::BaseMainWindow {
  Q_OBJECT
 public:
  MainWindow(QWidget* parent = 0);
  ~MainWindow();

 public:
  /**
   * list the available solvers in the GUI
   */
  void updateDisplayedSolvers();

  /**
   * list the available robust kernels in the GUI
   */
  void updateRobustKernels();

  /**
   * load a graph on which we will operate from a file
   */
  bool loadFromFile(const QString& filename);

 public slots:
  void on_actionLoad_triggered(bool);
  void on_actionSave_triggered(bool);
  void on_actionQuit_triggered(bool);
  void on_actionWhite_Background_triggered(bool);
  void on_actionDefault_Background_triggered(bool);
  void on_actionProperties_triggered(bool);
  void on_actionSave_Screenshot_triggered(bool);
  void on_actionLoad_Viewer_State_triggered(bool);
  void on_actionSave_Viewer_State_triggered(bool);

  void on_btnOptimize_clicked();
  void on_btnInitialGuess_clicked();
  void on_btnSetZero_clicked();
  void on_btnForceStop_clicked();
  void on_btnOptimizerParameters_clicked();
  void on_btnReload_clicked();

 protected:
  void fixGraph();
  bool allocateSolver(bool& allocatedNewSolver);
  bool prepare();
  void setRobustKernel();
  bool load(const QString& filename);

  std::vector<g2o::OptimizationAlgorithmProperty> _knownSolvers;
  int _lastSolver;
  bool _forceStopFlag;
  g2o::OptimizationAlgorithmProperty _currentOptimizationAlgorithmProperty;
  g2o::OptimizationAlgorithm* _currentSolver;

  ViewerPropertiesWidget* _viewerPropertiesWidget;
  PropertiesWidget* _optimizerPropertiesWidget;
  std::string _filename;
};

#endif
