#ifndef PIPELINE_EXECUTOR_H
#define PIPELINE_EXECUTOR_H

#include <memory>

#include "pipeline_stage.h"

namespace core
{
class PipelineExecutor
{
public:
    void addPreprocessStage(const std::shared_ptr<IPreprocessStage> &stage);
    void addTransformStage(const std::shared_ptr<ITransformStage> &stage);
    void addRegistrationStage(const std::shared_ptr<IRegistrationStage> &stage);
    void addLocalizationStage(const std::shared_ptr<ILocalizationStage> &stage);
    void addSegmentationStage(const std::shared_ptr<ISegmentationStage> &stage);
    void addMappingStage(const std::shared_ptr<IMappingStage> &stage);
    void addPlanningStage(const std::shared_ptr<IPlanningStage> &stage);
    void setReconstructionStage(const std::shared_ptr<IReconstructionStage> &stage);
    PipelineResult run(const PointCloudFrame &input) const;

private:
    QVector<std::shared_ptr<IPreprocessStage> > m_preprocessStages;
    QVector<std::shared_ptr<ITransformStage> > m_transformStages;
    QVector<std::shared_ptr<IRegistrationStage> > m_registrationStages;
    QVector<std::shared_ptr<ILocalizationStage> > m_localizationStages;
    QVector<std::shared_ptr<ISegmentationStage> > m_segmentationStages;
    QVector<std::shared_ptr<IMappingStage> > m_mappingStages;
    QVector<std::shared_ptr<IPlanningStage> > m_planningStages;
    std::shared_ptr<IReconstructionStage> m_reconstructionStage;
};
} // namespace core

#endif // PIPELINE_EXECUTOR_H