#pragma once

#include "mesh.h"
#include "Settings.h"
#include <omp.h>
#include <array>

#include <Indoor/Assertions.h>
#include <Indoor/geo/Heading.h>
#include <Indoor/math/distribution/Uniform.h>
#include <Indoor/math/distribution/Normal.h>
//#include <Indoor/math/distribution/Region.h>

#include <Indoor/smc/Particle.h>
#include <Indoor/smc/filtering/ParticleFilter.h>
#include <Indoor/smc/filtering/ParticleFilterInitializer.h>
#include <Indoor/smc/filtering/resampling/ParticleFilterResamplingSimple.h>
#include <Indoor/smc/filtering/estimation/ParticleFilterEstimationWeightedAverage.h>
#include <Indoor/smc/filtering/estimation/ParticleFilterEstimationMax.h>

#include <Indoor/navMesh/walk/NavMeshWalkSimple.h>
//#include <Indoor/navMesh/walk/NavMeshWalkEval.h>
//#include <Indoor/navMesh/walk/NavMeshWalkWifi.h>
//#include <Indoor/navMesh/walk/NavMeshWalkWifiRegional.h>
//#include <Indoor/navMesh/walk/NavMeshWalkUnblockable.h>
//#include <Indoor/navMesh/walk/NavMeshWalkKLD.h>
#include <Indoor/navMesh/walk/NavMeshWalkSinkOrSwim.h>
//#include <Indoor/navMesh/NavMeshRandom.h>

#include <Indoor/sensors/radio/model/LogDistanceModel.h>
#include <Indoor/sensors/radio/WiFiMeasurements.h>
#include <Indoor/data/Timestamp.h>
#include <Indoor/sensors/radio/WiFiProbabilityFree.h>
#include <Indoor/sensors/activity/ActivityDetector.h>

#include "FtmKalman.h"
#include "Eval.h"

struct MyState {

	/** the state's position (within the mesh) */
	MyNavMeshLocation pos;

	/** the state's heading */
	Heading heading;

	MyState() : pos(), heading(0) {;}

    MyState(Point3 p) : pos(p, nullptr), heading(0){;}

	MyState& operator += (const MyState& o) {
		pos.tria = nullptr;	// impossible
		pos.pos += o.pos.pos;
		return *this;
	}

	MyState& operator /= (const double val) {
		pos.tria = nullptr;	// impossible
		pos.pos /= val;
		return *this;
	}

	MyState operator * (const double val) const {
		MyState res;
		res.pos.pos = pos.pos * val;
		return res;
	}

    float getX(){
        return pos.pos.x;
    }

    float getY() {
        return pos.pos.y;
    }

    float getZ() {
        return pos.pos.z;
    }


    float getBinValue(const int dim) const {
        switch (dim) {
            case 0: return this->pos.pos.x;
            case 1: return this->pos.pos.y;
            case 2: return this->pos.pos.z;
            case 3: return this->heading.getRAD();
        }
        throw "cant find this value within the bin";
    }

};

struct MyControl {

	int numStepsSinceLastEval = 0;
	float headingChangeSinceLastEval = 0;

	void afterEval() {
		numStepsSinceLastEval = 0;
		headingChangeSinceLastEval = 0;
	}

    //wifi
    std::map<MACAddress, WiFiMeasurement> wifi;

    //time
    Timestamp currentTime;

    //last estimation
    Point3 lastEstimate = Point3(26, 43, 7.5);

};

struct MyObservation {

    //wifi
    std::unordered_map<MACAddress, WiFiMeasurement> wifi; // deprecated

    std::vector<WiFiMeasurement> ftm;

    //time
    Timestamp currentTime;
};

class MyPFInitUniform : public SMC::ParticleFilterInitializer<MyState> {

	const MyNavMesh* mesh;

public:

	MyPFInitUniform(const MyNavMesh* mesh) : mesh(mesh) {
		;
	}

    virtual void initialize(std::vector<SMC::Particle<MyState>>& particles) override {

		/** random position and heading within the mesh */
		Distribution::Uniform<float> dHead(0, 2*M_PI);
		MyNavMeshRandom rnd = mesh->getRandom();
        for (SMC::Particle<MyState>& p : particles) {
			p.state.pos = rnd.draw();
			p.state.heading = dHead.draw();
			p.weight = 1.0 / particles.size();
		}
	}

};

class MyPFInitFixed : public SMC::ParticleFilterInitializer<MyState> {

	const MyNavMesh* mesh;
	const Point3 pos;

public:

	MyPFInitFixed(const MyNavMesh* mesh, const Point3 pos) : mesh(mesh), pos(pos) {
		;
	}

    virtual void initialize(std::vector<SMC::Particle<MyState>>& particles) override {

		/** random position and heading within the mesh */
		Distribution::Uniform<float> dHead(0, 2*M_PI);
        for (SMC::Particle<MyState>& p : particles) {
			p.state.pos = mesh->getLocation(pos);
            p.state.heading = 1.5*M_PI;// dHead.draw();
			p.weight = 1.0 / particles.size();
		}
	}

};

class MyPFTransStatic : public SMC::ParticleFilterTransition<MyState, MyControl>{
    void transition(std::vector<SMC::Particle<MyState>>& particles, const MyControl* control) override {
        // nop
    }
};

struct MyPFTransRandom : public SMC::ParticleFilterTransition<MyState, MyControl>{

        Distribution::Normal<float> dStepSize;
        Distribution::Uniform<float> dHeading;

        MyPFTransRandom()
            //: dStepSize(2.5f, 0.7f), dHeading(0, 2*M_PI)
            : dStepSize(2.0f, 0.5f), dHeading(0, 2 * M_PI)
        {}

        void transition(std::vector<SMC::Particle<MyState>>& particles, const MyControl* control) override {

            #pragma omp parallel for num_threads(3)
            for (int i = 0; i < particles.size(); ++i) {
                SMC::Particle<MyState>& p = particles[i];

                const float angle = dHeading.draw();
                const float stepSize = dStepSize.draw();

                p.state.pos.pos.x += std::cos(angle) * stepSize;
                p.state.pos.pos.y += std::sin(angle) * stepSize;
            }
        }
};

class MyPFTrans : public SMC::ParticleFilterTransition<MyState, MyControl> {

    //using MyNavMeshWalk = NM::NavMeshWalkSimple<MyNavMeshTriangle>;
    //using MyNavMeshWalk = NM::NavMeshWalkWifiRegional<MyNavMeshTriangle>;
    //using MyNavMeshWalk = NM::NavMeshWalkUnblockable<MyNavMeshTriangle>;
    //using MyNavMeshWalk = NM::NavMeshWalkKLD<MyNavMeshTriangle>;
    using MyNavMeshWalk = NM::NavMeshWalkSinkOrSwim<MyNavMeshTriangle>;

	MyNavMeshWalk walker;

public:

    //std::vector<double> listRadiusSub;

    MyPFTrans(MyNavMesh& mesh) :
        walker(mesh) {

		// how to evaluate drawn points
        walker.addEvaluator(new NM::WalkEvalHeadingStartEndNormal<MyNavMeshTriangle>(0.04));
        walker.addEvaluator(new NM::WalkEvalDistance<MyNavMeshTriangle>(0.1));
        //walker.addEvaluator(new NM::WalkEvalApproachesTarget<MyNavMeshTriangle>(0.9));		// 90% for particles moving towards the target
    }

    void transition(std::vector<SMC::Particle<MyState>>& particles, const MyControl* control) override {

        // walking and heading random
        Distribution::Normal<float> dStepSizeFloor(0.60f, 0.1f);
        Distribution::Normal<float> dStepSizeStair(0.35f, 0.1f);
        Distribution::Normal<float> dHeading(0.0, 0.1f);
        
        #pragma omp parallel for num_threads(3)
        for (int i = 0; i < particles.size(); ++i) {
            SMC::Particle<MyState>& p = particles[i];

			// how to walk
			MyNavMeshWalkParams params;
			params.heading = p.state.heading + control->headingChangeSinceLastEval + dHeading.draw();
			params.numSteps = control->numStepsSinceLastEval;
			params.start = p.state.pos;

			params.stepSizes.stepSizeFloor_m = dStepSizeFloor.draw();
			params.stepSizes.stepSizeStair_m = dStepSizeStair.draw();

            if(params.stepSizes.stepSizeFloor_m < 0.1f || params.stepSizes.stepSizeStair_m < 0.1f){
                params.stepSizes.stepSizeFloor_m  = 0.1f;
                params.stepSizes.stepSizeStair_m  = 0.1f;
            }

			// walk
            MyNavMeshWalk::ResultEntry res = walker.getOne(params);

			// assign back to particle's state
            p.weight *= res.probability;
			p.state.pos = res.location;
			p.state.heading = res.heading;

		}

		// reset the control (0 steps, 0 delta-heading)
		//control->afterEval();

	}
};

struct MyPFEval : public SMC::ParticleFilterEvaluation<MyState, MyObservation> {

	// FRANK
    MyPFEval() { };

    bool assignProps = false;
    std::shared_ptr<std::unordered_map<MACAddress, Kalman>> ftmKalmanFilters;

    virtual double evaluation(std::vector<SMC::Particle<MyState>>& particles, const MyObservation& observation) override {

        double sum = 0;
        
		#pragma omp parallel for num_threads(3)
		for (int i = 0; i < particles.size(); ++i) {
            SMC::Particle<MyState>& p = particles[i];

            auto kalmanFilters = ftmKalmanFilters;

            if (!Settings::UseKalman)
            {
                kalmanFilters = nullptr;
            }

            double prob = ftmEval(Settings::UseRSSI ? SensorMode::RSSI : SensorMode::FTM, observation.currentTime, p.state.pos.pos, observation.ftm, kalmanFilters);

            if (assignProps)
                p.weight = prob;
            else          
                p.weight *= prob;

            #pragma omp atomic
            sum += prob;
        }

        return sum;
	}
};


using MyFilter = SMC::ParticleFilter<MyState, MyControl, MyObservation>;