#include "mainFtm.h"

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

#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 <sys/stat.h>

static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, 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[numFile]);

    // 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::experimental::filesystem::path(Settings::errorDir);
	evalDir.append(folder);

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

    std::ofstream errorFile;
    errorFile.open (evalDir.string() + "/" + std::to_string(numFile) + "_" + 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) });
    kalmanMap->insert({ Settings::NUC2, Kalman(2, setup.NUCs.at(Settings::NUC2).kalman_measStdDev) });
    kalmanMap->insert({ Settings::NUC3, Kalman(3, setup.NUCs.at(Settings::NUC3).kalman_measStdDev) });
    kalmanMap->insert({ Settings::NUC4, Kalman(4, setup.NUCs.at(Settings::NUC4).kalman_measStdDev) });

    // mesh
    NM::NavMeshSettings set;
    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.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->assignProps = true;
    eval->kalmanMap = kalmanMap;

    //auto trans = std::make_unique<MyPFTrans>(mesh);
    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);
    pf.setNEffThreshold(0.0);

    // 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);


    // 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

            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);
        }

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

            plot.plot();

            
            //std::this_thread::sleep_for(500ms);

            // 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 mainFtm(int argc, char** argv) {

    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";

    for(int i = 0; i < 1; ++i){
        for(int j = 0; j < 1; ++j){
            tmp = run(Settings::data.CurrentPath, j, 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;


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


    return 0;
}