#pragma once

#include <cassert>

#include <Indoor/grid/GridPoint.h>
#include <Indoor/data/Timestamp.h>
#include <Indoor/sensors/radio/VAPGrouper.h>

namespace Settings {

    const bool useKLB = false;

    const int numParticles = 5000;
    const int numBSParticles = 50;

	namespace IMU {
        const float turnSigma = 2.5;		// 3.5
        const float stepLength = 1.00;
        const float stepSigma = 0.15; //toni changed
	}

	const float smartphoneAboveGround = 1.3;

	const float offlineSensorSpeedup = 2;

	namespace Grid {
		constexpr int gridSize_cm = 20;
	}

    namespace Smoothing {
        const bool activated = true;
        const double stepLength = 0.7;
        const double stepSigma = 0.2;
        const double headingSigma = 25.0;
        const double zChange = 0.0; // mu change in height between two time steps
        const double zSigma = 0.1;
        const int lag = 5;

    }

    namespace KDE {
        const Point2 bandwidth(1,1);
		const float  gridSize = 0.2;
    }

	namespace KDE3D {
		const Point3 bandwidth(1, 1, 1);
		const Point3 gridSize(0.2, 0.2, 1); // in meter
	}

	//const GridPoint destination = GridPoint(70*100, 35*100, 0*100);		// use destination
	const GridPoint destination = GridPoint(0,0,0);							// do not use destination

	namespace SensorDebug {
		const Timestamp updateEvery = Timestamp::fromMS(200);
	}

    namespace WiFiModel {
        constexpr float sigma = 8.0;
		/** if the wifi-signal-strengths are stored on the grid-nodes, this needs a grid rebuild! */
        constexpr float TXP = -45;
        constexpr float EXP = 2.3;
        constexpr float WAF = -11.0;

        const bool optimize = false;
        const bool useRegionalOpt = false;

        // how to perform VAP grouping. see
        // - calibration in Controller.cpp
        // - eval in Filter.h
        // NOTE: maybe the UAH does not allow valid VAP grouping? delete the grid and rebuild without!
		const VAPGrouper vg_calib = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::MAXIMUM, VAPGrouper::TimeAggregation::AVERAGE, 1);	// Frank: WAS MAXIMUM
		const VAPGrouper vg_eval  = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::MAXIMUM, VAPGrouper::TimeAggregation::AVERAGE, 1);	// Frank: WAS MAXIMUM
	}

    namespace BeaconModel {
        constexpr float sigma = 8.0;
        constexpr float TXP = -71;
        constexpr float EXP = 1.5;
        constexpr float WAF = -20.0; //-5 //20??
    }

	namespace MapView3D {
        const int maxColorPoints = 1000;
		constexpr int fps = 15;
		const Timestamp msPerFrame = Timestamp::fromMS(1000/fps);
	}

	namespace Filter {
		const Timestamp updateEvery = Timestamp::fromMS(500);
		constexpr bool useMainThread = false;						// perform filtering in the main thread
	}
    
	const std::string mapDir = "../map/";
	const std::string dataDir = "../measurements/data/";
	const std::string errorDir = "../measurements/error/";
    
    const bool UseKalman = true;

    /** describes one dataset (map, training, parameter-estimation, ...) */

    const MACAddress NUC1("38:de:ad:6d:77:25");
    const MACAddress NUC2("38:de:ad:6d:60:ff");
    const MACAddress NUC3("1c:1b:b5:ef:a2:9a");
    const MACAddress NUC4("1c:1b:b5:ec:d1:82");

    static int nucIndex(const MACAddress& addr)
    {
        if (addr == Settings::NUC1) return 0;
        if (addr == Settings::NUC2) return 1;
        if (addr == Settings::NUC3) return 2;
        if (addr == Settings::NUC4) return 3;
        else assert(false); 
    }

    static MACAddress nucFromIndex(int idx)
    {
        switch (idx)
        {
        case 0: return NUC1;
        case 1: return NUC2;
        case 2: return NUC3;
        case 3: return NUC4;
        default: assert(false);
        }
    }

    struct NUCSettings
    {
        int ID = 0;
        Point3 position = { 0,0,0 };
        float ftm_offset = 0.0f;
        float rssi_pathloss = 0.0f;
        float kalman_measStdDev = 0.0f;

        float kalman_procNoiseDistStdDev = 0.0f;  // standard deviation of distance for process noise 
        float kalman_procNoiseVelStdDev = 0.0f;   // standard deviation of velocity for process noise 
    };

    struct DataSetup {
        std::string map;
        std::vector<std::string> training;
        std::unordered_map<MACAddress, NUCSettings> NUCs;
        std::vector<int> gtPath;

        NUCSettings nucInfo(int idx) const
        {
            return NUCs.at(nucFromIndex(idx));
        }
    };

    /** all configured datasets */
    const struct Data {

        const DataSetup Path0 = {
            mapDir + "map0_ap_path0.xml",
            {
                dataDir + "Pixel2/Path0_0605.csv",
            },
            {
                // NUC, ID   Pos X   Y    Z   offset loss   kalman stddev
                { NUC1, {1, { 7.5, 18.7, 0.8}, 1.25, 3.375, 6.156} }, // NUC 1
                { NUC2, {2, { 8.6, 26.8, 0.8}, 2.00, 3.000, 5.650} }, // NUC 2
                { NUC3, {3, {21.6, 19.1, 0.8}, 1.75, 3.375, 6.107} }, // NUC 3
                { NUC4, {4, {20.8, 27.1, 0.8}, 2.75, 2.750, 3.985} }, // NUC 4
            },
            { 0, 1, 2, 3 }
        };

        // 1 Path: U von TR nach TD und zurück;
        const DataSetup Path1 = {
            mapDir + "map2_ap_path1.xml",
            {
                dataDir + "Pixel2/path1/1560153927208_2_1.csv",
                dataDir + "Pixel2/path1/1560153989866_2_2.csv",
                dataDir + "Pixel2/path1/1560154049481_2_3.csv",
                dataDir + "Pixel2/path1/1560154143357_2_4.csv",
                dataDir + "Pixel2/path1/1560154188048_2_5.csv",
                dataDir + "Pixel2/path1/1560154230042_2_6.csv"
            },
            {
                { NUC1, {1, { 8.1, 18.7, 0.8}, 2.25, 0, 10.0f} }, // NUC 1
                { NUC2, {2, { 8.4, 27.3, 0.8}, 3.25, 0, 10.0f} }, // NUC 2
                { NUC3, {3, {21.3, 19.3, 0.8}, 2.50, 0, 10.0f} }, // NUC 3
                { NUC4, {4, {20.6, 26.8, 0.8}, 3.00, 0, 10.0f} }, // NUC 4
            },
            { 1, 2, 6, 7, 6, 2, 1 }
        };

        // 2 Path: Wie 2 nur von TD zu TR
        const DataSetup Path2 = {
            mapDir + "map2_ap_path1.xml",
            {
                dataDir + "Pixel2/path2/1560154622883_3_1.csv",
                dataDir + "Pixel2/path2/1560154679846_3_2.csv",
                dataDir + "Pixel2/path2/1560154740633_3_3.csv",
                dataDir + "Pixel2/path2/1560154852350_3_4.csv",
                dataDir + "Pixel2/path2/1560154892633_3_5.csv",
                dataDir + "Pixel2/path2/1560154931995_3_6.csv"
            },
            {
                { NUC1, {1, { 8.1, 18.7, 0.8}, 1.50, 0, 3.0f} }, // NUC 1
                { NUC2, {2, { 8.4, 27.3, 0.8}, 2.25, 0, 3.0f} }, // NUC 2
                { NUC3, {3, {21.3, 19.3, 0.8}, 2.25, 0, 3.0f} }, // NUC 3
                { NUC4, {4, {20.6, 26.8, 0.8}, 2.00, 0, 3.0f} }, // NUC 4
            },
            { 7, 6, 2, 1, 2, 6, 7 }
        };


        // 3 Path: U von TR nach TD; 4 mal das U
        const DataSetup Path3 = {
            mapDir + "map2_ap_path2.xml",
            {
                dataDir + "Pixel2/path3/1560155227376_4_1.csv",
                dataDir + "Pixel2/path3/1560155332037_4_2.csv",
                dataDir + "Pixel2/path3/1560155435568_4_3.csv",
                dataDir + "Pixel2/path3/1560155662787_4_4.csv",
                dataDir + "Pixel2/path3/1560155744688_4_5.csv",
                dataDir + "Pixel2/path3/1560155821831_4_6.csv"
            },
            {
                { NUC1, {1, { 8.1, 18.7, 0.8}, 1.25, 0, 3.0f} }, // NUC 1
                { NUC2, {2, { 8.4, 27.3, 0.8}, 2.00, 0, 3.0f} }, // NUC 2
                { NUC3, {3, {21.3, 19.3, 0.8}, 1.75, 0, 3.0f} }, // NUC 3
                { NUC4, {4, {20.6, 26.8, 0.8}, 2.25, 0, 3.0f} }, // NUC 4
            },
            { 1, 2, 6, 7, 6, 2, 1, 2, 6, 7, 6, 2, 1 }
        };

        // 4 Path: In Räumen
        const DataSetup Path4 = {
            mapDir + "map2_ap_path2.xml",
            {
                dataDir + "Pixel2/path4/1560156876457_5_1.csv",
                dataDir + "Pixel2/path4/1560156976307_5_2.csv",
                dataDir + "Pixel2/path4/1560157087291_5_3.csv",
                dataDir + "Pixel2/path4/1560157347306_5_4.csv",
                dataDir + "Pixel2/path4/1560157409937_5_5.csv",
                dataDir + "Pixel2/path4/1560157495026_5_6.csv"
            },
            {
                { NUC1, {1, { 8.1, 18.7, 0.8}, 1.50, 0, 3.0f} }, // NUC 1
                { NUC2, {2, { 8.4, 27.3, 0.8}, 1.25, 0, 3.0f} }, // NUC 2
                { NUC3, {3, {21.3, 19.3, 0.8}, 2.25, 0, 3.0f} }, // NUC 3
                { NUC4, {4, {20.6, 26.8, 0.8}, 2.25, 0, 3.0f} }, // NUC 4
            },
            { 0, 1, 2, 3, 2, 6, 5, 6, 7, 8 }
        };
            

        // 5 Path: In Räumen extendend
        const DataSetup Path5 = {
            mapDir + "map2_ap_path2.xml",
            {
                dataDir + "Pixel2/path5/1560158444772_6_1.csv",
                dataDir + "Pixel2/path5/1560158562549_6_2.csv",
                dataDir + "Pixel2/path5/1560158675012_6_3.csv",
                dataDir + "Pixel2/path5/1560158823911_6_4.csv",
                dataDir + "Pixel2/path5/1560158907998_6_5.csv",
                dataDir + "Pixel2/path5/1560158988785_6_6.csv"
            },
            {
                { NUC1, {1, { 8.1, 18.7, 0.8}, 2.00, 3.375, 3.0f} }, // NUC 1
                { NUC2, {2, { 8.4, 27.3, 0.8}, 1.25, 3.375, 3.0f} }, // NUC 2
                { NUC3, {3, {21.3, 19.3, 0.8}, 2.75, 3.250, 3.0f} }, // NUC 3
                { NUC4, {4, {20.6, 26.8, 0.8}, 2.25, 3.375, 3.0f} }, // NUC 4
            },
            { 0, 1, 2, 11, 10, 9, 10, 11, 2, 6, 5, 12, 13, 12, 5, 6, 7, 8 }
        };


        // 6 Path: SHL Path 1
        const DataSetup Path6 = {
            mapDir + "shl.xml",
            {
                dataDir + "Pixel2/path6/14681054221905_6_1.csv"
            },
            {
                // NUC, ID Pos X   Y    Z  offset loss   kalman stddev
                { NUC1, {1, { 54, 46, 0.8}, 5.00, 3.375, 3.0f} }, // NUC 1
                { NUC2, {2, { 45, 37, 0.8}, 5.00, 3.375, 3.0f} }, // NUC 2
                { NUC3, {3, { 27, 45, 0.8}, 5.00, 3.250, 3.0f} }, // NUC 3
                { NUC4, {4, { 16, 36, 0.8}, 5.75, 3.375, 3.0f} }, // NUC 4
            },
            { 100, 101, 102, 103, 104, 103, 102, 101, 100 }
        };

        // 7 Path: SHL Path 2; Versuche mit NUCs in den Räumen war nicht vielversprechend ...
        const DataSetup Path7 = {
            mapDir + "shl.xml",
            {
                dataDir + "Pixel2/path7/23388354821394.csv",
                dataDir + "Pixel2/path7/23569363647863.csv",
                dataDir + "Pixel2/path7/23776390928852.csv",
                dataDir + "Pixel2/path7/23938602403553.csv"
            },
            {
                // NUC, ID Pos X   Y    Z  offset loss   kalman stddev
                { NUC1, {1, { 54, 46, 0.8}, 5.00, 3.375, 3.0f} }, // NUC 1
                { NUC2, {2, { 45, 37, 0.8}, 5.00, 3.375, 3.0f} }, // NUC 2
                { NUC3, {3, { 27, 45, 0.8}, 5.00, 3.250, 3.0f} }, // NUC 3
                { NUC4, {4, { 16, 36, 0.8}, 5.75, 3.375, 3.0f} }, // NUC 4
            },
            { 100, 102, 103, 104, 105, 104, 103, 102, 100 }
        };

        // 8 Path: Wie SHL Path 2 nur, dass die NUCs im Gang stehen
        const DataSetup Path8 = {
            mapDir + "shl.xml",
            {
                dataDir + "Pixel2/path8/25967118530318.csv", // gang
                dataDir + "Pixel2/path8/25439520303384.csv", // tür
            },
            {
                // NUC, ID Pos X   Y    Z  offset loss   kalman stddev
                { NUC1, {1, { 55, 44, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 1
                { NUC2, {2, { 46, 40, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 2
                { NUC3, {3, { 27, 44, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 3
                { NUC4, {4, { 15, 40, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 4
            },
            { 100, 102, 103, 104, 105, 104, 103, 102, 100 }
        };

        // 9 Path: SHL Path 3, NUCs stehen im Gang
        const DataSetup Path9 = {
            mapDir + "shl_nuc_gang.xml",
            {
                dataDir + "Pixel2/path9/27911186920065.csv",
                dataDir + "Pixel2/path9/28255150484121.csv",
                dataDir + "Pixel2/path9/28404719230167.csv",            
            },
            {
                // NUC, ID Pos X   Y    Z  offset loss   kalman stddev
                { NUC1, {1, { 55, 44, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 1
                { NUC2, {2, { 46, 40, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 2
                { NUC3, {3, { 27, 44, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 3
                { NUC4, {4, { 15, 40, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 4
            },
            { 200, 201, 203, 104, 204, 205, 206, 207, 206, 208, 209, 210, 211, 212 }
        };


        const DataSetup CurrentPath = Path8;

    } data;

}