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  /* Author: Ioan Sucan, Jon Binney */
  
  #pragma once
  
  #include <octomap/octomap.h>
  #include <boost/thread/locks.hpp>
  #include <boost/thread/shared_mutex.hpp>
  #include <boost/function.hpp>
  #include <memory>
  
  namespace occupancy_map_monitor
  {
  typedef octomap::OcTreeNode OccMapNode;
  
  class OccMapTree : public octomap::OcTree
  {
  public:
    OccMapTree(double resolution) : octomap::OcTree(resolution)
    {
    }
  
    OccMapTree(const std::string& filename) : octomap::OcTree(filename)
    {
    }
  
    /** @brief lock the underlying octree. it will not be read or written by the
     *  monitor until unlockTree() is called */
    void lockRead()
    {
      tree_mutex_.lock_shared();
    }
  
    /** @brief unlock the underlying octree. */
    void unlockRead()
    {
      tree_mutex_.unlock_shared();
    }
  
    /** @brief lock the underlying octree. it will not be read or written by the
     *  monitor until unlockTree() is called */
    void lockWrite()
    {
      tree_mutex_.lock();
    }
  
    /** @brief unlock the underlying octree. */
    void unlockWrite()
    {
      tree_mutex_.unlock();
    }
  
    using ReadLock = boost::shared_lock<boost::shared_mutex>;
    using WriteLock = boost::unique_lock<boost::shared_mutex>;
  
    ReadLock reading()
    {
      return ReadLock(tree_mutex_);
    }
  
    WriteLock writing()
    {
      return WriteLock(tree_mutex_);
    }
  
    void triggerUpdateCallback()
    {
      if (update_callback_)
        update_callback_();
    }
  
    /** @brief Set the callback to trigger when updates are received */
    void setUpdateCallback(const boost::function<void()>& update_callback)
    {
      update_callback_ = update_callback;
    }
  
  private:
    boost::shared_mutex tree_mutex_;
    boost::function<void()> update_callback_;
  };
  
  using OccMapTreePtr = std::shared_ptr<OccMapTree>;
  using OccMapTreeConstPtr = std::shared_ptr<const OccMapTree>;
  }  // namespace occupancy_map_monitor
  