#include "main.h"

#include "mesh.h"
#include "filter.h"
#include "Settings.h"
#include "meshPlotter.h"
#include "Plotty.h"

#include <array>
#include <memory>
#include <thread>
#include <filesystem>
#include <chrono>

#include <Indoor/floorplan/v2/FloorplanReader.h>
#include <Indoor/sensors/offline/FileReader.h>
#include <Indoor/geo/Heading.h>
#include <Indoor/geo/Point2.h>
#include <Indoor/sensors/imu/TurnDetection.h>
#include <Indoor/sensors/imu/StepDetection.h>
#include <Indoor/sensors/imu/PoseDetection.h>
#include <Indoor/sensors/imu/MotionDetection.h>
#include <Indoor/sensors/pressure/RelativePressure.h>
#include <Indoor/data/Timestamp.h>


#include <Indoor/math/stats/Statistics.h>

#include "FtmKalman.h"
#include "mainFtm.h"
#include "misc.h"

#include <sys/stat.h>

using namespace std::chrono_literals;

std::vector<std::tuple<float, float, float>> getFtmValues(Offline::FileReader& fr, Interpolator<uint64_t, Point3>& gtInterpolator, const MACAddress nuc)
{
    std::vector<std::tuple<float, float, float>> result;

    for (const Offline::Entry& e : fr.getEntries())
    {
        if (e.type == Offline::Sensor::WIFI_FTM)
        {
            const Timestamp ts = Timestamp::fromMS(e.ts);

            Point3 gtPos = gtInterpolator.get(static_cast<uint64_t>(ts.ms())) + Point3(0, 0, 1.3);

            auto wifi = fr.getWifiFtm()[e.idx].data;

            if (wifi.getAP().getMAC() == nuc)
            {
                Point3 apPos = Settings::data.CurrentPath.NUCs.find(wifi.getAP().getMAC())->second.position;
                float apDist = gtPos.getDistance(apPos);
                float ftmDist = wifi.getFtmDist();
                float rssi = wifi.getRSSI();

                result.push_back({ apDist, ftmDist, rssi });
            }
        }
    }

    return result;
}

std::pair<float, float> optimizeFtm(std::vector<std::tuple<float, float, float>>& values)
{
    std::vector<std::pair<float, float>> error;

    for (float offset = 0; offset < 10.0f; offset += 0.25)
    {
        Stats::Statistics<float> diffs;

        for (const auto& data : values)
        {
            float apDist = std::get<0>(data);
            float ftmDist = std::get<1>(data);
            ftmDist += offset;

            float diff = (apDist - ftmDist);

            diffs.add(diff);
        }

        error.push_back({ offset, diffs.getSquaredSumAvg() });
    }

    auto minElement = std::min_element(error.begin(), error.end(), [](std::pair<float, float> a, std::pair<float, float> b) {
        return a.second < b.second;
    });

    std::cout << "Min ftm offset \t" << minElement->first << "\t" << minElement->second << "\n";

    return *minElement;
}

std::pair<float, float> optimizeRssi(std::vector<std::tuple<float, float, float>>& values)
{
    std::vector<std::pair<float, float>> error;

    for (float pathLoss = 2.0f; pathLoss < 4.0f; pathLoss += 0.125)
    {
        Stats::Statistics<float> diffs;

        for (const auto& data : values)
        {
            float apDist = std::get<0>(data);
            float rssi = std::get<2>(data);
            float rssiDist = LogDistanceModel::rssiToDistance(-40, pathLoss, rssi);

            float diff = (apDist - rssiDist);

            diffs.add(diff);
        }

        error.push_back({ pathLoss, diffs.getSquaredSumAvg() });
    }

    auto minElement = std::min_element(error.begin(), error.end(), [](std::pair<float, float> a, std::pair<float, float> b) {
        return a.second < b.second;
    });

    std::cout << "Min path loss \t" << minElement->first << "\t" << minElement->second << "\n";

    return *minElement;
}

void optimizeWifiParameters(Offline::FileReader& fr, Interpolator<uint64_t, Point3>& gtInterpolator)
{
    int i = 1;
    for (auto nuc : { Settings::NUC1, Settings::NUC2, Settings::NUC3, Settings::NUC4 })
    {
        auto values = getFtmValues(fr, gtInterpolator, nuc);
        std::cout << "NUC" << i++ << "\n";

        optimizeFtm(values);
        optimizeRssi(values);
    }
}

void exportFtmValues(Offline::FileReader& fr, Interpolator<uint64_t, Point3>& gtInterpolator)
{
    std::fstream fs;
    fs.open("test.txt", std::fstream::out);

    fs << "timestamp;nucid;dist;rssiDist;ftmDist;ftmStdDev;numMeas;numSuccesMeas" << "\n";

    for (const Offline::Entry& e : fr.getEntries())
    {
        if (e.type == Offline::Sensor::WIFI_FTM)
        {
            const Timestamp ts = Timestamp::fromMS(e.ts);

            Point3 gtPos = gtInterpolator.get(static_cast<uint64_t>(ts.ms())) + Point3(0, 0, 1.3);

            auto wifi = fr.getWifiFtm()[e.idx].data;

            int nucid = Settings::data.CurrentPath.NUCs.at(wifi.getAP().getMAC()).ID;
            float ftm_offset = Settings::data.CurrentPath.NUCs.at(wifi.getAP().getMAC()).ftm_offset;
            float rssi_pathloss = Settings::data.CurrentPath.NUCs.at(wifi.getAP().getMAC()).rssi_pathloss;

            float rssiDist = LogDistanceModel::rssiToDistance(-40, rssi_pathloss, wifi.getRSSI());
            float ftmDist = wifi.getFtmDist() + ftm_offset; //in m; plus static offset
            float ftmStdDev = wifi.getFtmDistStd();
            int numMeas = wifi.getNumAttemptedMeasurements();
            int numSuccessMeas = wifi.getNumSuccessfulMeasurements();

            Point3 apPos = Settings::data.CurrentPath.NUCs.find(wifi.getAP().getMAC())->second.position;
            float apDist = gtPos.getDistance(apPos);

            fs << ts.ms() << ";" << nucid << ";" << apDist << ";" << rssiDist << ";" << ftmDist << ";" << ftmStdDev << ";" << numMeas << ";" << numSuccessMeas << "\n";
        }

    }
    fs.close();
}



static float kalman_procNoiseDistStdDev = 1.2f;  // standard deviation of distance for process noise 
static float kalman_procNoiseVelStdDev = 0.1f;   // standard deviation of velocity for process noise 

static Stats::Statistics<float> run(Settings::DataSetup setup, int walkIdx, std::string folder) {

    // reading file
    std::string currDir = std::filesystem::current_path().string();

    Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(setup.map);
    Offline::FileReader fr(setup.training[walkIdx]);

    // ground truth
    std::vector<int> gtPath = setup.gtPath;   
    Interpolator<uint64_t, Point3> gtInterpolator = fr.getGroundTruthPath(map, gtPath);
    Stats::Statistics<float> errorStats;

    //calculate distance of path
    std::vector<Interpolator<uint64_t, Point3>::InterpolatorEntry> gtEntries = gtInterpolator.getEntries();
    double distance = 0;
    for(int i = 1; i < gtEntries.size(); ++i){
        distance += gtEntries[i].value.getDistance(gtEntries[i-1].value);
    }

    std::cout << "Distance of Path: " << distance << std::endl;

    // error file
    const long int t = static_cast<long int>(time(NULL));
    auto evalDir = std::filesystem::path(Settings::errorDir);
	evalDir.append(folder);

    if (!std::filesystem::exists(evalDir)) {
        std::filesystem::create_directory(evalDir);
	}

    std::ofstream errorFile;
    errorFile.open (evalDir.string() + "/" + std::to_string(walkIdx) + "_" + std::to_string(t) + ".csv");


    // wifi
    auto kalmanMap = std::make_shared<std::unordered_map<MACAddress, Kalman>>();
    kalmanMap->insert({ Settings::NUC1, Kalman(1, setup.NUCs.at(Settings::NUC1).kalman_measStdDev, kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev) });
    kalmanMap->insert({ Settings::NUC2, Kalman(2, setup.NUCs.at(Settings::NUC2).kalman_measStdDev, kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev) });
    kalmanMap->insert({ Settings::NUC3, Kalman(3, setup.NUCs.at(Settings::NUC3).kalman_measStdDev, kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev) });
    kalmanMap->insert({ Settings::NUC4, Kalman(4, setup.NUCs.at(Settings::NUC4).kalman_measStdDev, kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev) });

    std::cout << "Optimal wifi parameters for " << setup.training[walkIdx] << "\n";
    optimizeWifiParameters(fr, gtInterpolator);

    // mesh
    NM::NavMeshSettings set;
    set.maxQuality_m = 0.10; // because of narrow hallways and small rooms reduce min. triangle size (default is 0.2)
    MyNavMesh mesh;
    MyNavMeshFactory fac(&mesh, set);
    fac.build(map);

    const Point3 srcPath0(9.8, 24.9, 0); // fixed start pos

    // add shortest-path to destination
    //const Point3 dst(51, 45, 1.7);
    //const Point3 dst(25, 45, 0);
    //NM::NavMeshDijkstra::stamp<MyNavMeshTriangle>(mesh, dst);

    // debug show
    //MeshPlotter dbg;
    //dbg.addFloors(map);
    //dbg.addOutline(map);
    //dbg.addMesh(mesh);
    ////dbg.addDijkstra(mesh);
    //dbg.draw();

    Plotty plot(map);
    plot.buildFloorplan();
    plot.setGroundTruth(gtPath);
    plot.setView(30, 0);
    // APs Positions
    plot.addCircle(100000 + 0, Settings::data.CurrentPath.nucInfo(0).position.xy(), 0.05);
    plot.addCircle(100000 + 1, Settings::data.CurrentPath.nucInfo(1).position.xy(), 0.05);
    plot.addCircle(100000 + 2, Settings::data.CurrentPath.nucInfo(2).position.xy(), 0.05);
    plot.addCircle(100000 + 3, Settings::data.CurrentPath.nucInfo(3).position.xy(), 0.05);
    plot.plot();

    // particle-filter
    const int numParticles = 5000;
    //auto init = std::make_unique<MyPFInitFixed>(&mesh, srcPath0);	// known position
    auto init = std::make_unique<MyPFInitUniform>(&mesh);		// uniform distribution
    auto eval = std::make_unique<MyPFEval>();
    eval->kalmanMap = kalmanMap;

    auto trans = std::make_unique<MyPFTransRandom>();
    //auto trans = std::make_unique<MyPFTransStatic>();

    auto resample = std::make_unique<SMC::ParticleFilterResamplingSimple<MyState>>();
    auto estimate = std::make_unique<SMC::ParticleFilterEstimationWeightedAverage<MyState>>();

    // setup
    MyFilter pf(numParticles, std::move(init));
    pf.setEvaluation(std::move(eval));
    pf.setTransition(std::move(trans));
    pf.setResampling(std::move(resample));
    pf.setEstimation(std::move(estimate));
    pf.setNEffThreshold(0.85);

    // sensors
    MyControl ctrl;
    MyObservation obs;

    StepDetection sd;
    PoseDetection pd;
    TurnDetection td(&pd);
    RelativePressure relBaro;
    ActivityDetector act;
    relBaro.setCalibrationTimeframe( Timestamp::fromMS(5000) );
    Timestamp lastTimestamp = Timestamp::fromMS(0);

    int i = 0;
    // parse each sensor-value within the offline data
    for (const Offline::Entry& e : fr.getEntries()) {

        const Timestamp ts = Timestamp::fromMS(e.ts);

        if (e.type == Offline::Sensor::WIFI_FTM) {
            auto ftm = fr.getWifiFtm()[e.idx].data;

            float ftm_offset = Settings::data.CurrentPath.NUCs.at(ftm.getAP().getMAC()).ftm_offset;
            float ftmDist = ftm.getFtmDist() + ftm_offset; // in m; plus static offset


            if (Settings::UseKalman)
            {
                auto& kalman = kalmanMap->at(ftm.getAP().getMAC());
                float predictDist = kalman.predict(ts, ftmDist);

                ftm.setFtmDist(predictDist);

                obs.wifi.insert_or_assign(ftm.getAP().getMAC(), ftm);
            }
            else
            {
                // MOV AVG
                if (obs.wifi.count(ftm.getAP().getMAC()) == 0)
                {
                    obs.wifi.insert_or_assign(ftm.getAP().getMAC(), ftm);
                }
                else
                {
                    auto currFtm = obs.wifi.find(ftm.getAP().getMAC());

                    float currDist = currFtm->second.getFtmDist();

                    const float alpha = 0.6;
                    float newDist = alpha * currDist + (1 - alpha) * ftmDist;

                    currFtm->second.setFtmDist(newDist);
                }
            }
        } else if (e.type == Offline::Sensor::WIFI) {
            //obs.wifi = fr.getWiFiGroupedByTime()[e.idx].data;
            //ctrl.wifi = fr.getWiFiGroupedByTime()[e.idx].data;
        } else if (e.type == Offline::Sensor::ACC) {
            if (sd.add(ts, fr.getAccelerometer()[e.idx].data)) {
                ++ctrl.numStepsSinceLastEval;
            }
            const Offline::TS<AccelerometerData>& _acc = fr.getAccelerometer()[e.idx];
            pd.addAccelerometer(ts, _acc.data);

            //simpleActivity walking / standing
            act.add(ts, fr.getAccelerometer()[e.idx].data);

        } else if (e.type == Offline::Sensor::GYRO) {
            const Offline::TS<GyroscopeData>& _gyr = fr.getGyroscope()[e.idx];
            const float delta_gyro = td.addGyroscope(ts, _gyr.data);

            ctrl.headingChangeSinceLastEval += delta_gyro;

        } else if (e.type == Offline::Sensor::BARO) {
            relBaro.add(ts, fr.getBarometer()[e.idx].data);
            obs.relativePressure = relBaro.getPressureRealtiveToStart();
            obs.sigmaPressure = relBaro.getSigma();

            //simpleActivity stairs up / down
            act.add(ts, fr.getBarometer()[e.idx].data);
            obs.activity = act.get();
        }

        if (ctrl.numStepsSinceLastEval > 0) 
        //if (ts - lastTimestamp >= Timestamp::fromMS(500))
        //if (obs.wifi.size() == 4)
        {

            obs.currentTime = ts;
            ctrl.currentTime = ts;

//            if(ctrl.numStepsSinceLastEval > 0){
//                pf.updateTransitionOnly(&ctrl);
//            }
            MyState est = pf.update(&ctrl, obs); //pf.updateEvaluationOnly(obs);
            ctrl.afterEval();
            Point3 gtPos = gtInterpolator.get(static_cast<uint64_t>(ts.ms())) + Point3(0,0,0.1);
            lastTimestamp = ts;

            ctrl.lastEstimate = est.pos.pos;


            // draw wifi ranges
            for (auto& ftm : obs.wifi)
            {
                int nucid = Settings::data.CurrentPath.NUCs.at(ftm.second.getAP().getMAC()).ID;

                if (nucid == 1)
                {
                    Point3 apPos = Settings::data.CurrentPath.NUCs.find(ftm.first)->second.position;
                    //plot.addCircle(nucid, apPos.xy(), ftm.second.getFtmDist());
                }
            }

            obs.wifi.clear();

            //plot
            //dbg.showParticles(pf.getParticles());
            //dbg.setCurPos(est.pos.pos);
            //dbg.setGT(gtPos);
            //dbg.addEstimationNode(est.pos.pos);
            //dbg.addGroundTruthNode(gtPos);
            //dbg.setTimeInMinute(static_cast<int>(ts.sec()) / 60, static_cast<int>(static_cast<int>(ts.sec())%60));
            //dbg.draw();

            //plot.printOverview("test");

            plot.showParticles(pf.getParticles());
            plot.setCurEst(est.pos.pos);
            plot.setGroundTruth(gtPos);
            
            plot.addEstimationNode(est.pos.pos);
            plot.setActivity((int) act.get());
            //plot.splot.getView().setEnabled(false);
            //plot.splot.getView().setCamera(0, 0);
            //plot.splot.getView().setEqualXY(true);

//            plot.plot();

            plot.plot();
            //plot.closeStream();
            std::this_thread::sleep_for(100ms);

            // error calc
//            float err_m = gtPos.getDistance(est.pos.pos);
//            errorStats.add(err_m);
//            errorFile << ts.ms() << " " << err_m << "\n";

            //error calc with penalty for wrong floor
            double errorFactor = 3.0;
            Point3 gtPosError = Point3(gtPos.x, gtPos.y, errorFactor * gtPos.z);
            Point3 estError = Point3(est.pos.pos.x, est.pos.pos.y, errorFactor * est.pos.pos.z);
            float err_m = gtPosError.getDistance(estError);
            errorStats.add(err_m);
            errorFile << ts.ms() << " " << err_m << "\n";
        }
    }


    // get someting on console
    std::cout << "Statistical Analysis Filtering: " << std::endl;
    std::cout << "Median: " << errorStats.getMedian() << " Average: " << errorStats.getAvg() << " Std: " << errorStats.getStdDev() << std::endl;

    // save the statistical data in file
    errorFile << "========================================================== \n";
    errorFile << "Average of all statistical data: \n";
    errorFile << "Median: " << errorStats.getMedian() << "\n";
    errorFile << "Average: " << errorStats.getAvg() << "\n";
    errorFile << "Standard Deviation: " << errorStats.getStdDev() << "\n";
    errorFile << "75 Quantil: " << errorStats.getQuantile(0.75) << "\n";
    errorFile.close();

    return errorStats;
}

int main(int argc, char** argv) 
{
    CmdArguments args(argc, argv);

    if (args.hasFlag("prob"))
    {
        std::cout << "Probabilistic" << "\n";
        return mainProp(argc, argv);
    }
    else if (args.hasFlag("trilat"))
    {
        std::cout << "Trilateration" << "\n";
        return mainTrilat(argc, argv);
    }

    //mainFtm(argc, argv);
    //return 0;

    Stats::Statistics<float> statsAVG;
    Stats::Statistics<float> statsMedian;
    Stats::Statistics<float> statsSTD;
    Stats::Statistics<float> statsQuantil;
    Stats::Statistics<float> tmp;

    std::string evaluationName = "prologic/tmp";
    
    std::vector<std::array<float, 3>> error;
    std::ofstream error_out;
    error_out.open(Settings::errorDir + evaluationName + "_error_path1" +  ".csv", std::ios_base::app);


    //for (kalman_procNoiseDistStdDev = 0.8f; kalman_procNoiseDistStdDev < 1.5f; kalman_procNoiseDistStdDev += 0.1f)
    //{
    //    for (kalman_procNoiseVelStdDev = 0.1f; kalman_procNoiseVelStdDev < 0.5f; kalman_procNoiseVelStdDev += 0.1f)
    //    {

    for (size_t walkIdx = 0; walkIdx < 6; walkIdx++)
    {
        std::cout << "Executing walk " << walkIdx << "\n";
        for (int i = 0; i < 1; ++i) 
        {
            std::cout << "Start of iteration " << i << "\n";

            tmp = run(Settings::data.CurrentPath, walkIdx, evaluationName);
            statsMedian.add(tmp.getMedian());
            statsAVG.add(tmp.getAvg());
            statsSTD.add(tmp.getStdDev());
            statsQuantil.add(tmp.getQuantile(0.75));

            std::cout << kalman_procNoiseDistStdDev << " " << kalman_procNoiseVelStdDev << std::endl;
            std::cout << "Iteration " << i << " completed" << std::endl;

        }
    }


    //        error.push_back({{ kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev, statsAVG.getAvg() }});

    //        auto minElement = std::min_element(error.begin(), error.end(), [](std::array<float, 3> a, std::array<float, 3> b) {
    //            return a[2] < b[2];
    //        });

    //        std::cout << "Current min error " << (*minElement)[2] << "\t Q(0)=\t" << (*minElement)[0] << "\t Q(1)=" << (*minElement)[1] << "\n";

    //        error_out << kalman_procNoiseDistStdDev << ";" << kalman_procNoiseVelStdDev << ";" << statsAVG.getAvg() << std::endl;

    //        // reset stats
    //        statsAVG.reset();
    //        statsMedian.reset();
    //        statsSTD.reset();
    //        statsQuantil.reset();
    //    }
    //}

    //auto minElement = std::min_element(error.begin(), error.end(), [](std::array<float, 3> a, std::array<float, 3> b) {
    //    return a[2] < b[2];
    //});

    //std::cout << "Global Min error " << (*minElement)[2] << "\t Q(0)=\t" << (*minElement)[0] << "\t Q(1)=" << (*minElement)[1] << "\n";

    //error_out.close();


    //for(int i = 0; i < 2; ++i){
    //    
    //    tmp = run(Settings::data.CurrentPath, 0, evaluationName);
    //    statsMedian.add(tmp.getMedian());
    //    statsAVG.add(tmp.getAvg());
    //    statsSTD.add(tmp.getStdDev());
    //    statsQuantil.add(tmp.getQuantile(0.75));       

    //    std::cout << "Iteration " << i << " completed" << std::endl;
    //}

    std::cout << "==========================================================" << std::endl;
    std::cout << "Average of all statistical data: " << std::endl;
    std::cout << "Median: " << statsMedian.getAvg() << std::endl;
    std::cout << "Average: " << statsAVG.getAvg() << std::endl;
    std::cout << "Standard Deviation: " << statsSTD.getAvg() << std::endl;
    std::cout << "75 Quantil: " << statsQuantil.getAvg() << std::endl;
    std::cout << "==========================================================" << std::endl;

    //EDIT THIS EDIT THIS EDIT THIS EDIT THIS EDIT THIS EDIT THIS EDIT THIS EDIT THIS
    std::ofstream finalStatisticFile;
    finalStatisticFile.open (Settings::errorDir + evaluationName + ".csv", std::ios_base::app);

    finalStatisticFile << "========================================================== \n";
    finalStatisticFile << "Average of all statistical data: \n";
    finalStatisticFile << "Median: " << statsMedian.getAvg() << "\n";
    finalStatisticFile << "Average: " << statsAVG.getAvg() << "\n";
    finalStatisticFile << "Standard Deviation: " << statsSTD.getAvg() << "\n";
    finalStatisticFile << "75 Quantil: " << statsQuantil.getAvg() << "\n";
    finalStatisticFile << "========================================================== \n";

    finalStatisticFile.close();

    //std::this_thread::sleep_for(std::chrono::seconds(60));

}