CscPlaceCartography.h

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//
//  CscPlaceCartography.hpp
//  ConscienceRobotManager
//
//  Created by Iliès Zaoui on 14/07/2019.
//  Copyright © 2020 Conscience Robotics. All rights reserved.
//
 
#ifndef CscPlaceCartography_h
#define CscPlaceCartography_h
 
#include "CscCommon.h"
#include "Axiomes/Csc3dTypes.h"
 
#include <mutex>
#include <unordered_set>
 
using std::mutex, std::unordered_set;
using namespace conscience_core::axiomes;
 
class CscWorldPlace;
namespace conscience_core::lidar {
 
const string PLACE_TAG_FROM_CARTOGRAPHY = "FromCartography";
 
class CscPlaceCartography {
public:
    static CscPlaceCartography *latestFromStorage();
    static CscPlaceCartography *fromDirectory(const fs::path &dirPath);
    static CscPlaceCartography *fromFile(const fs::path &filePath);
    static CscPlaceCartography *empty();
 
    ~CscPlaceCartography();
 
    bool loadLatestFromStorage(bool logResult = true);
    void loadFromDirectory(const fs::path &dirPath);
    void loadFromPointsFile(const fs::path &filePath);
    CscWorldPlace* toWorldPlace() const;
    static CscWorldPlace *pointCloudToWorldPlace(const vector<const CscPoint3d *> &points);
 
    void loadFromPoints(const vector<const CscPoint3d *> &placePoints);
 
    void saveToStorage();
 
    void saveToFile(const fs::path &filePath);
 
    vector<CscPoint3d *> *getAllPoints() const;
 
    unsigned long long getLastUpdatedTimestamp() const;
 
private:
    CscPlaceCartography();
 
    void clearNoLock();
 
    vector<const CscPoint3d *> allPoints;
    std::unique_ptr<CscLogger> logger;
    inline static int cartographyPlaceModelIdCounter = std::numeric_limits<int>::max();
    unsigned long long lastUpdatedTimestamp = 0;
 
    mutable mutex pointsMutex;
};
 
}
 
#endif