#ifndef SETTINGS_H
#define SETTINGS_H

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

namespace Settings {

	const int numParticles = 2000;
	const int numBSParticles = 50;

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

    const float smartphoneAboveGround = 1.3f;

    const float offlineSensorSpeedup = 2.0f;

	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 = 0.2f;
	}

	namespace KDE3D {
		const Point3 bandwidth(1.5, 1.5, 0.2f);
		const Point3 gridSize(0.2f, 0.2f, 0.2f); // 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 = 2.0;
		/** if the wifi-signal-strengths are stored on the grid-nodes, this needs a grid rebuild! */
		constexpr float TXP = -45;
		constexpr float EXP = 2.3f;
		constexpr float WAF = -11.0;

		const bool optimize = true;
		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 = "/mnt/Daten/Dokumente/programme/localization/maps/museum/";
    const std::string dataDir = "/mnt/Daten/Dokumente/programme/localization/measurements/rothenburg/2018/";
	const std::string errorDir = dataDir  + "results/";

	/** describes one dataset (map, training, parameter-estimation, ...) */
	struct DataSetup {
		std::string map;
		std::vector<std::string> training;
		std::string fingerprints;
		std::string wifiModel;
		int numGTPoints;
	};

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

		DataSetup Path0 = {

			mapDir + "map42_ap_path0.xml",

			{
                dataDir + "nexus/Path0_4113.csv",
                dataDir + "nexus/Path0_6563.csv",
                dataDir + "pixel/Path0_1498.csv",
                dataDir + "pixel/Path0_2529.csv",
                //dataDir + "pixel/Path0_7380.csv",
                //dataDir + "samsung/Path0_4208.csv",
                //dataDir + "samsung/Path0_6812.csv",
			},

            dataDir + "nexus/fingerprints/wifi_fp.dat",
            dataDir + "wifimodel.dat",
			15
		};

		DataSetup Path1 = {

			mapDir + "map42_ap_path1_hofzu.xml",

			{
                dataDir + "nexus/Path1_1548.csv",
                dataDir + "nexus/Path1_9477.csv",
                dataDir + "pixel/Path1_2468.csv",
                dataDir + "pixel/Path1_5497.csv",
                dataDir + "pixel/Path1_8787.csv",
                dataDir + "samsung/Path1_5745.csv",
                dataDir + "samsung/Path1_9130.csv"
			},

            dataDir + "nexus/fingerprints/wifi_fp.dat",
            dataDir + "wifimodel.dat",
			32
		};

		DataSetup Path2 = {

			mapDir + "map42_ap_path2.xml",

			{
                dataDir + "nexus/Path2_0374.csv",
                dataDir + "nexus/Path2_4718.csv",
                dataDir + "nexus/Path2_8766.csv",
                dataDir + "pixel/Path2_4336.csv",
				//dataDir + "museum/Pixel/Path2_4341.csv",
                dataDir + "pixel/Path2_9038.csv",
                dataDir + "samsung/Path2_3326.csv",
                dataDir + "samsung/Path2_5814.csv"
			},

            dataDir + "nexus/fingerprints/wifi_fp.dat",
            dataDir + "wifimodel.dat",
			44
		};

		DataSetup Path3 = {

			mapDir + "map42_ap_path3.xml",

			{
                //dataDir + "nexus/Path3_4519.csv",
                //dataDir + "nexus/Path3_5929.csv",
                dataDir + "pixel/Path3_6307.csv",
                //dataDir + "pixel/Path3_5451.csv", //geht nur bis gt-punkt 31
                //dataDir + "pixel/Path3_9243.csv",
                //dataDir + "samsung/Path3_7610.csv",
                //dataDir + "samsung/Path3_7819.csv"
			},

            dataDir + "nexus/fingerprints/wifi_fp.dat",
            dataDir + "wifimodel_new.dat",
			46
		};

	} data;

}




#endif // SETTINGS_H