#pragma once

#include <gpu_voxels/GpuVoxels.h>
#include <ros/ros.h>
#include <std_srvs/Trigger.h>
#include <shared_workspace/Event.h>
#include <shared_workspace/Config.h>

class Snapshotting : public EventHandler<boost::shared_ptr<gpu_voxels::voxellist::CountingVoxelList>>
{
public:
  Snapshotting(ros::NodeHandle& nh, gpu_voxels::GpuVoxelsSharedPtr gvl, boost::shared_ptr<Config> config);
  virtual ~Snapshotting();

  void handle(boost::shared_ptr<gpu_voxels::voxellist::CountingVoxelList> env);

private:
  boost::shared_ptr<Config> m_config;
  gpu_voxels::GpuVoxelsSharedPtr m_gvl;

  ros::ServiceServer m_snapshot_service_server;

  boost::shared_ptr<gpu_voxels::voxellist::BitVectorVoxelList> m_snapshot_voxellist;

  bool m_make_snapshot_trigger;
  bool m_recording_voxels_for_snapshot;
  uint32_t m_snapshot_iterations_counter;
  uint32_t m_iterations_for_snapshot;

  bool triggerCB(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
};