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#include "spark_dsg/scene_graph_node.h"

#include "spark_dsg/node_attributes.h"

namespace spark_dsg {

SceneGraphNode::SceneGraphNode(NodeId node_id,
                               LayerKey layer_id,
                               std::unique_ptr<NodeAttributes>&& attrs)
    : id(node_id), layer(layer_id), attributes_(std::move(attrs)) {}

SceneGraphNode::~SceneGraphNode() = default;

bool SceneGraphNode::hasParent() const { return parents_.size() == 1; }

bool SceneGraphNode::hasSiblings() const { return !siblings_.empty(); }

bool SceneGraphNode::hasChildren() const { return !children_.empty(); }

std::optional<NodeId> SceneGraphNode::getParent() const {
  if (parents_.size() != 1) {
    return std::nullopt;
  }

  return *parents_.begin();
}

const std::set<NodeId>& SceneGraphNode::siblings() const { return siblings_; };

const std::set<NodeId>& SceneGraphNode::children() const { return children_; };

const std::set<NodeId>& SceneGraphNode::parents() const { return parents_; };

std::vector<NodeId> SceneGraphNode::connections() const {
  // TODO(nathan) this would be better as a custom iterator
  std::vector<NodeId> to_return;
  to_return.insert(to_return.end(), siblings_.begin(), siblings_.end());
  to_return.insert(to_return.end(), children_.begin(), children_.end());
  to_return.insert(to_return.end(), parents_.begin(), parents_.end());
  return to_return;
}

}  // namespace spark_dsg
