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 // This file is part of the ACTS project.
 //
 // Copyright (C) 2016 CERN for the benefit of the ACTS project
 //
 // This Source Code Form is subject to the terms of the Mozilla Public
 // License, v. 2.0. If a copy of the MPL was not distributed with this
 // file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
 #pragma once
 
 #include "Acts/Definitions/Direction.hpp"
 #include "Acts/Definitions/Units.hpp"
 #include "Acts/Geometry/Layer.hpp"
 #include "Acts/Geometry/TrackingGeometry.hpp"
 #include "Acts/Geometry/TrackingVolume.hpp"
 #include "Acts/Propagator/NavigationTarget.hpp"
 #include "Acts/Propagator/NavigatorOptions.hpp"
 #include "Acts/Propagator/NavigatorStatistics.hpp"
 #include "Acts/Surfaces/BoundaryTolerance.hpp"
 #include "Acts/Surfaces/Surface.hpp"
 #include "Acts/Utilities/Intersection.hpp"
 #include "Acts/Utilities/Logger.hpp"
 #include "Acts/Utilities/Result.hpp"
 
 #include <limits>
 #include <memory>
 #include <vector>
 
 namespace Acts {
 
 /// @brief A fully guided navigator
 ///
 /// This is a fully guided navigator that progresses through a provided sequence
 /// of surfaces.
 ///
 /// This can either be used as a validation tool, for truth tracking, or track
 /// refitting.
 ///
 class DirectNavigator {
  public:
   /// The sequentially crossed surfaces
   using SurfaceSequence = std::vector<const Surface*>;
 
   /// @brief The nested configuration struct
   struct Config {};
 
   /// @brief The nested options struct
   struct Options : public NavigatorPlainOptions {
     explicit Options(const GeometryContext& gctx)
         : NavigatorPlainOptions(gctx) {}
 
     /// The Surface sequence
     SurfaceSequence surfaces;
 
     /// The surface tolerance
     double surfaceTolerance = s_onSurfaceTolerance;
 
     // TODO https://github.com/acts-project/acts/issues/2738
     /// Distance limit to discard intersections "behind us"
     /// @note this is only necessary because some surfaces have more than one
     ///       intersection
     double nearLimit = -100 * UnitConstants::um;
 
     /// The far limit to resolve surfaces
     double farLimit = std::numeric_limits<double>::max();
 
     void setPlainOptions(const NavigatorPlainOptions& options) {
       static_cast<NavigatorPlainOptions&>(*this) = options;
     }
   };
 
   /// @brief Nested State struct
   ///
   /// It acts as an internal state which is created for every
   /// propagation/extrapolation step and keep thread-local navigation
   /// information
   struct State {
     explicit State(const Options& options_) : options(options_) {}
 
     Options options;
 
     Direction direction = Direction::Forward();
 
     /// Index of the next surface to try
     /// @note -1 means before the first surface in the sequence and size()
     ///       means after the last surface in the sequence
     int surfaceIndex = -1;
 
     /// Navigation state - external interface: the current surface
     const Surface* currentSurface = nullptr;
 
     /// Navigation state - external interface: a break has been detected
     bool navigationBreak = false;
 
     /// Navigation statistics
     NavigatorStatistics statistics;
 
     const Surface& navSurface() const {
       return *options.surfaces.at(surfaceIndex);
     }
 
     void nextSurface() {
       if (direction == Direction::Forward()) {
         ++surfaceIndex;
       } else {
         --surfaceIndex;
       }
     }
 
     bool endOfSurfaces() const {
       if (direction == Direction::Forward()) {
         return surfaceIndex >= static_cast<int>(options.surfaces.size());
       }
       return surfaceIndex < 0;
     }
 
     int remainingSurfaces() const {
       if (direction == Direction::Forward()) {
         return options.surfaces.size() - surfaceIndex;
       }
       return surfaceIndex + 1;
     }
 
     void resetSurfaceIndex() {
       surfaceIndex = direction == Direction::Forward()
                          ? -1
                          : static_cast<int>(options.surfaces.size());
     }
   };
 
   explicit DirectNavigator(std::unique_ptr<const Logger> _logger =
                                getDefaultLogger("DirectNavigator",
                                                 Logging::INFO))
       : m_logger{std::move(_logger)} {}
 
   State makeState(const Options& options) const {
     State state(options);
     return state;
   }
 
   const Surface* currentSurface(const State& state) const {
     return state.currentSurface;
   }
 
   const TrackingVolume* currentVolume(const State& /*state*/) const {
     return nullptr;
   }
 
   const IVolumeMaterial* currentVolumeMaterial(const State& /*state*/) const {
     return nullptr;
   }
 
   const Surface* startSurface(const State& state) const {
     return state.options.startSurface;
   }
 
   const Surface* targetSurface(const State& state) const {
     return state.options.targetSurface;
   }
 
   bool endOfWorldReached(State& /*state*/) const { return false; }
 
   bool navigationBreak(const State& state) const {
     return state.navigationBreak;
   }
 
   /// @brief Initialize the navigator
   ///
   /// This function initializes the navigator for a new propagation.
   ///
   /// @param state The navigation state
   /// @param position The start position
   /// @param direction The start direction
   /// @param propagationDirection The propagation direction
   [[nodiscard]] Result<void> initialize(State& state, const Vector3& position,
                                         const Vector3& direction,
                                         Direction propagationDirection) const {
     (void)position;
     (void)direction;
 
     ACTS_VERBOSE("Initialize. Surface sequence for navigation:");
     for (const Surface* surface : state.options.surfaces) {
       ACTS_VERBOSE(surface->geometryId()
                    << " - "
                    << surface->center(state.options.geoContext).transpose());
     }
 
     state.direction = propagationDirection;
     ACTS_VERBOSE("Navigation direction is " << propagationDirection);
 
     // We set the current surface to the start surface
     state.currentSurface = state.options.startSurface;
     if (state.currentSurface != nullptr) {
       ACTS_VERBOSE("Current surface set to start surface "
                    << state.currentSurface->geometryId());
     } else {
       ACTS_VERBOSE("Current surface set to nullptr");
     }
 
     // Find initial index.
     auto found =
         std::ranges::find(state.options.surfaces, state.options.startSurface);
 
     if (found != state.options.surfaces.end()) {
       // The index should be the index before the start surface, depending on
       // the direction
       state.surfaceIndex = std::distance(state.options.surfaces.begin(), found);
       state.surfaceIndex += state.direction == Direction::Backward() ? 1 : -1;
     } else {
       ACTS_DEBUG(
           "Did not find the start surface in the sequence. Assuming it is not "
           "part of the sequence. Trusting the correctness of the input "
           "sequence. Resetting the surface index.");
       state.resetSurfaceIndex();
     }
 
     state.navigationBreak = false;
 
     return Result<void>::success();
   }
 
   /// @brief Get the next target surface
   ///
   /// This function gets the next target surface for the propagation. For
   /// the direct navigator this is always the next surface in the sequence.
   ///
   /// @param state The navigation state
   /// @param position The current position
   /// @param direction The current direction
   ///
   /// @return The next target surface
   NavigationTarget nextTarget(State& state, const Vector3& position,
                               const Vector3& direction) const {
     // Navigator target always resets the current surface
     state.currentSurface = nullptr;
 
     if (state.navigationBreak) {
       return NavigationTarget::None();
     }
 
     ACTS_VERBOSE("DirectNavigator::nextTarget");
 
     // Move the sequence to the next surface
     state.nextSurface();
 
     if (!state.endOfSurfaces()) {
       ACTS_VERBOSE("Next surface candidate is  "
                    << state.navSurface().geometryId() << ". "
                    << state.remainingSurfaces() << " out of "
                    << state.options.surfaces.size()
                    << " surfaces remain to try.");
     } else {
       ACTS_VERBOSE("End of surfaces reached, navigation break.");
       state.navigationBreak = true;
       return NavigationTarget::None();
     }
 
     // Establish & update the surface status
     // TODO we do not know the intersection index - passing the closer one
     const Surface& surface = state.navSurface();
     const double farLimit = std::numeric_limits<double>::max();
     const auto intersection = chooseIntersection(
         state.options.geoContext, surface, position, direction,
         BoundaryTolerance::Infinite(), state.options.nearLimit, farLimit,
         state.options.surfaceTolerance);
     return NavigationTarget(surface, intersection.index(),
                             BoundaryTolerance::Infinite());
   }
 
   /// @brief Check if the current target is still valid
   ///
   /// This function checks if the target is valid. For the direct navigator this
   /// is always true.
   ///
   /// @param state The navigation state
   /// @param position The current position
   /// @param direction The current direction
   ///
   /// @return True if the target is valid
   bool checkTargetValid(const State& state, const Vector3& position,
                         const Vector3& direction) const {
     (void)state;
     (void)position;
     (void)direction;
 
     return true;
   }
 
   /// @brief Handle the surface reached
   ///
   /// This function handles the surface reached. For the direct navigator this
   /// effectively sets the current surface to the reached surface.
   ///
   /// @param state The navigation state
   /// @param position The current position
   /// @param direction The current direction
   /// @param surface The surface reached
   void handleSurfaceReached(State& state, const Vector3& position,
                             const Vector3& direction,
                             const Surface& surface) const {
     (void)position;
     (void)direction;
     (void)surface;
 
     if (state.navigationBreak) {
       return;
     }
 
     ACTS_VERBOSE("DirectNavigator::handleSurfaceReached");
 
     // Set the current surface
     state.currentSurface = &state.navSurface();
     ACTS_VERBOSE("Current surface set to  "
                  << state.currentSurface->geometryId());
   }
 
  private:
   ObjectIntersection<Surface> chooseIntersection(
       const GeometryContext& gctx, const Surface& surface,
       const Vector3& position, const Vector3& direction,
       const BoundaryTolerance& boundaryTolerance, double nearLimit,
       double farLimit, double tolerance) const {
     auto intersections = surface.intersect(gctx, position, direction,
                                            boundaryTolerance, tolerance);
 
     for (auto& intersection : intersections.split()) {
       if (detail::checkPathLength(intersection.pathLength(), nearLimit,
                                   farLimit, logger())) {
         return intersection;
       }
     }
 
     return ObjectIntersection<Surface>::invalid();
   }
 
   const Logger& logger() const { return *m_logger; }
 
   std::unique_ptr<const Logger> m_logger;
 };
 
 }  // namespace Acts

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