#include <iostream>

#include "filter/Structs.h"
#include "filter/KLB.h"
#include "Plotti.h"
#include "filter/Logic.h"
#include "Settings.h"

#include <sys/types.h>
#include <sys/stat.h>


//frank
//const std::string mapDir = "/mnt/data/workspaces/IPIN2016/IPIN2016/competition/maps/";
//const std::string dataDir = "/mnt/data/workspaces/IPIN2016/IPIN2016/competition/src/data/";

//toni
const std::string mapDir = "/home/toni/Documents/programme/localization/IndoorMap/maps/";
const std::string dataDir = "/home/toni/Documents/programme/localization/IPIN2017/code/data/";
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 wifiParams;
	int minWifiOccurences;
	VAPGrouper::Mode vapMode;
    std::string grid;
};

/** all configured datasets */
struct Data {

    DataSetup BERKWERK = {

        mapDir + "SHL/SHL25.xml",

        {
            dataDir + "bergwerk/path1/nexus/vor/1454775984079.csv",
            dataDir + "bergwerk/path1/galaxy/vor/1454776168794.csv",
            dataDir + "bergwerk/path2/nexus/vor/1454779863041.csv",
            dataDir + "bergwerk/path2/galaxy/vor/1454780113404.csv",
            dataDir + "bergwerk/path3/nexus/vor/1454782562231.csv",
            dataDir + "bergwerk/path3/galaxy/vor/1454782896548.csv",
            dataDir + "bergwerk/path4/nexus/vor/1454776525797.csv",
            dataDir + "bergwerk/path4/galaxy/vor/1454779020844.csv"
        },

        dataDir + "bergwerk/wifiParams.txt",
        40,
        VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO,
        mapDir + "SHL/grid25.dat"
    };

    DataSetup IPIN2015 = {

        mapDir + "SHL/SHL_IPIN2015_gt.xml",

        {
            dataDir + "ipin2015/galaxy/Path0/1433581471902.csv",
            dataDir + "ipin2015/nexus/Path0/1433606195078.csv",
            dataDir + "ipin2015/galaxy/Path1/1433587749492.csv",
            dataDir + "ipin2015/nexus/Path1/1433606670723.csv", // wlan für 71 sekunden weg. verlaufen uns aufm klo.
            dataDir + "ipin2015/galaxy/Path2/1433581471902.csv",
            dataDir + "ipin2015/nexus/Path2/1433607251262.csv",
            dataDir + "eiszeit/path2/1479986737368.csv"
        },

        dataDir + "bergwerk/wifiParams.txt",
        40,
        VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO,
        mapDir + "SHL/grid_IPIN2015_gt.dat"
    };

    DataSetup IPIN2017 = {

        mapDir + "SHL38.xml",

        {
            dataDir + "ipin2017/nogps/i-building/path1/1489769326868.csv",
            dataDir + "ipin2017/nogps/i-building/path1/1489769510080.csv",
            dataDir + "ipin2017/nogps/i-building/path2/1489774173022.csv",
            dataDir + "ipin2017/nogps/i-building/path2/1489774361865.csv",
            dataDir + "ipin2017/nogps/i-building/path3/1489776812891.csv",
            dataDir + "ipin2017/nogps/i-building/path3/1489776979143.csv",
            dataDir + "ipin2017/nogps/all/path1/1490031549543.csv",
            dataDir + "ipin2017/nogps/all/path1/1490031883742.csv",
            dataDir + "ipin2017/nogps/all/path2/1490032575999.csv",
            dataDir + "ipin2017/nogps/all/path2/1490032861864.csv",
            dataDir + "ipin2017/nogps/all/path3/EMPTY.csv",
            dataDir + "ipin2017/nogps/all/path3/EMPTY.csv",
        },

        mapDir + "wifi_fp_all.dat",
        40,
        VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO,
        mapDir + "grid_SHL38.dat"
    };

} data;


Floorplan::IndoorMap* MyState::map;

void run(DataSetup setup, int numFile, std::string folder, std::vector<int> gtPath) {

    std::vector<double> kld_data;

    // load the floorplan
    Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(setup.map);
    MyState::map = map;

    WiFiModelLogDistCeiling WiFiModel(map);
    WiFiModel.loadAPs(map, Settings::WiFiModel::TXP, Settings::WiFiModel::EXP, Settings::WiFiModel::WAF);
    Assert::isFalse(WiFiModel.getAllAPs().empty(), "no AccessPoints stored within the map.xml");

    BeaconModelLogDistCeiling beaconModel(map);
    beaconModel.loadBeaconsFromMap(map, Settings::BeaconModel::TXP, Settings::BeaconModel::EXP, Settings::BeaconModel::WAF);
    //Assert::isFalse(beaconModel.getAllBeacons().empty(), "no Beacons stored within the map.xml");


    // build the grid
    std::ifstream inp(setup.grid, std::ifstream::binary);
    Grid<MyNode> grid(20);

    // grid.dat empty? -> build one and save it
    if (!inp.good() || (inp.peek()&&0) || inp.eof()) {
        std::ofstream onp;
        onp.open(setup.grid);
        GridFactory<MyNode> factory(grid);
        factory.build(map);
        grid.write(onp);
    } else {
        grid.read(inp);
    }


    // add node-importance
    Importance::addImportance(grid);

    // stamp WiFi signal-strengths onto the grid
    WiFiGridEstimator::estimate(grid, WiFiModel, Settings::smartphoneAboveGround);

    // reading file
    Offline::FileReader fr(setup.training[numFile]);

    //interpolator for ground truth
    Interpolator<uint64_t, Point3> gtInterpolator = fr.getGroundTruthPath(map, gtPath);

    //gnuplot plot
    Plotti plot;
    plot.addFloors(map);
    plot.addOutline(map);
    plot.addStairs(map);
    plot.gp << "set autoscale xy\n";
    //plot.addGrid(grid);


    // init ctrl and observation
    MyControl ctrl;
    ctrl.resetAfterTransition();
    MyObs obs;

    //random start position
    std::unique_ptr<K::ParticleFilterInitializer<MyState>> init(new PFInit(grid)); std::move(init);

    //filter init
    //std::unique_ptr<PFInit> init =
    K::ParticleFilterHistory<MyState, MyControl, MyObs> pf(Settings::numParticles, std::unique_ptr<PFInit>(new PFInit(grid)));
    //K::ParticleFilterHistory<MyState, MyControl, MyObs> pf(Settings::numParticles, std::unique_ptr<PFInitFixed>(new PFInitFixed(grid, GridPoint(1120.0f, 750.0f, 740.0f), 90.0f)));
    pf.setTransition(std::unique_ptr<PFTrans>(new PFTrans(grid, &ctrl)));
    pf.setEvaluation(std::unique_ptr<PFEval>(new PFEval(WiFiModel, beaconModel, grid)));

    //resampling
    if(Settings::useKLB){
        pf.setResampling(std::unique_ptr<K::ParticleFilterResamplingDivergence<MyState>>(new K::ParticleFilterResamplingDivergence<MyState>()));
    } else {
        //pf.setResampling(std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()));
        pf.setResampling(std::unique_ptr<K::ParticleFilterResamplingPercent<MyState>>(new K::ParticleFilterResamplingPercent<MyState>(0.4)));
        //pf.setResampling(std::unique_ptr<NodeResampling<MyState, MyNode>>(new NodeResampling<MyState, MyNode>(*grid)););
    }

    pf.setNEffThreshold(0.95);

    //estimation
    //pf.setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
    //pf.setEstimation(std::unique_ptr<K::ParticleFilterEstimationRegionalWeightedAverage<MyState>>(new K::ParticleFilterEstimationRegionalWeightedAverage<MyState>()));
    pf.setEstimation(std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.5)));
    //pf.setEstimation(std::unique_ptr<K::ParticleFilterEstimationKernelDensity<MyState, 3>>(new K::ParticleFilterEstimationKernelDensity<MyState, 3>()));


    Timestamp lastTimestamp = Timestamp::fromMS(0);

    StepDetection sd;
    TurnDetection td;
    MotionDetection md;
    ActivityButterPressure act;

    RelativePressure relBaro;	relBaro.setCalibrationTimeframe( Timestamp::fromMS(5000) );

    K::Statistics<float> errorStats;

    //calc wi-fi prob for every node and get mean vector
    WiFiObserverFree wiFiProbability(Settings::WiFiModel::sigma, WiFiModel);


    //file writing for error data
    const long int t = static_cast<long int>(time(NULL));
    const std::string evalDir = errorDir + std::to_string(t);
    if(mkdir(evalDir.c_str(), S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH) == -1){
        Assert::doThrow("Eval folder couldn't be created!");
    }

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

    // 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) {
            obs.wifi = fr.getWiFiGroupedByTime()[e.idx].data;

        } else if (e.type == Offline::Sensor::BEACON){
            obs.beacons.entries.push_back(fr.getBeacons()[e.idx].data);

            // remove to old beacon measurements
            obs.beacons.removeOld(ts);

        } else if (e.type == Offline::Sensor::ACC) {
            if (sd.add(ts, fr.getAccelerometer()[e.idx].data)) {
                ++ctrl.numStepsSinceLastTransition;
            }
            const Offline::TS<AccelerometerData>& _acc = fr.getAccelerometer()[e.idx];
            td.addAccelerometer(ts, _acc.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.turnSinceLastTransition_rad += 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();

            //activity recognition
            obs.activity = act.add(ts, fr.getBarometer()[e.idx].data);
            //activity for transition

        } else if (e.type == Offline::Sensor::LIN_ACC) {
            md.addLinearAcceleration(ts, fr.getLinearAcceleration()[e.idx].data);

        } else if (e.type == Offline::Sensor::GRAVITY) {
            md.addGravity(ts, fr.getGravity()[e.idx].data);
            Eigen::Vector2f curVec = md.getCurrentMotionAxis();
            ctrl.motionDeltaAngle_rad = md.getMotionChangeInRad();
        }

        if (ts.ms() - lastTimestamp.ms() > 500) {

            obs.currentTime = ts;

            MyState est;
            if(Settings::useKLB){

                const WiFiMeasurements wifiObs = Settings::WiFiModel::vg_eval.group(obs.wifi);

                std::vector<MyNode> allNodes = grid.getNodes();
                std::vector<K::Particle<MyState>> particleWifi;
                for(MyNode node : allNodes){
                    double prob = wiFiProbability.getProbability(node, ts, wifiObs);
                    K::Particle<MyState> tmp (MyState(GridPoint(node.x_cm, node.y_cm, node.z_cm)), prob);
                    particleWifi.push_back(tmp);
                }

                if(kld_data.empty()){
                    kld_data.push_back(0.0);
                }

                double kld = 0.0;

                //set probability distributions.
                //std::function<double(std::vector<K::Particle<MyState>>&, MyState, std::vector<K::Particle<MyState>>&)> kldFunc = getKernelDensityProbability;
                std::function<double(std::vector<K::Particle<MyState>>&, MyState, std::vector<K::Particle<MyState>>&)> kldFunc = kldFromMultivariatNormal;

                //update filter
                est = pf.update(&ctrl, obs, particleWifi, kldFunc, kld);

                kld_data.push_back(kld);
            } else {
                est = pf.update(&ctrl, obs);
            }

            Point3 estPos = est.position.inMeter();

            //current ground truth position
            Point3 gtPos = gtInterpolator.get(static_cast<uint64_t>(ts.ms()));

            /** plotting stuff */
            plot.pInterest.clear();

            //turn angle plot
            static float angleSumTurn = 0; angleSumTurn += ctrl.turnSinceLastTransition_rad;
            plot.showAngle(1,  angleSumTurn + M_PI, Point2(0.9, 0.9), "Turn: ");

            //motion angle plot
            static float angleSumMotion = 0; angleSumMotion += ctrl.motionDeltaAngle_rad;
            plot.showAngle(2, angleSumMotion + M_PI, Point2(0.9, 0.8), "Motion: ");

            plot.setEst(estPos);
            plot.setGT(gtPos);
            plot.addEstimationNode(estPos);
            plot.addParticles(pf.getParticles());

            //plot.gp << "set arrow 919 from " << tt.pos.x << "," << tt.pos.y << "," << tt.pos.z << " to "<< tt.pos.x << "," << tt.pos.y << "," << tt.pos.z+1 << "lw 3\n";

            //plot.gp << "set label 1001 at screen 0.02, 0.98 'base:" << relBaro.getBaseAvg() << " sigma:" << relBaro.getSigma() << " cur:" << relBaro.getPressureRealtiveToStart() << " hPa " << -relBaro.getPressureRealtiveToStart()/0.10/4.0f << " floor'\n";
            int minutes = static_cast<int>(ts.sec()) / 60;
            plot.gp << "set label 1002 at screen 0.02, 0.94 'Time: " << minutes << ":" << static_cast<int>(static_cast<int>(ts.sec())%60) << "'\n";
            if(Settings::useKLB){
                plot.gp << "set label 1002 at screen 0.04, 0.94 'KLD: " << ":" << kld_data.back() << "'\n";
            }
            plot.gp << "set label 1002 at screen 0.98, 0.98 'act:" <<  obs.activity << "'\n";

            // error between GT and estimation
            float err_m = gtPos.getDistance(estPos);
            errorStats.add(err_m);
            errorFile << err_m << "\n";

            plot.show();
            usleep(10*10);

            lastTimestamp = ts;

            // reset control
            ctrl.resetAfterTransition();
        }

    }

    errorFile.close();

    std::cout << "Statistical Analysis: " << std::endl;
    std::cout << "Median: " << errorStats.getMedian() << " Average: " << errorStats.getAvg() << std::endl;

    //Write the current plotti buffer into file
    std::ofstream plotFile;
    plotFile.open(errorDir + std::to_string(numFile) + "_" + std::to_string(t) + ".gp");
    plot.saveToFile(plotFile);
    plotFile.close();

    for(int i = 0; i < map->floors.size(); ++i){
        plot.printSingleFloor(evalDir + "/image" + std::to_string(numFile) + "_" + std::to_string(t), i);
        plot.show();
        usleep(10*10);
    }

    plot.printSideView(evalDir + "/image" + std::to_string(numFile) + "_" + std::to_string(t), 90);
    plot.show();

    plot.printSideView(evalDir + "/image" + std::to_string(numFile) + "_" + std::to_string(t), 0);
    plot.show();

    plot.printOverview(evalDir + "/image" + std::to_string(numFile) + "_" + std::to_string(t));
    plot.show();


    //draw kld
    K::Gnuplot gp;
    K::GnuplotPlot plotkld;
    K::GnuplotPlotElementLines lines;

    //save as screenshot for klb
    if(Settings::useKLB){
        std::string path = evalDir + "/image" + std::to_string(numFile) + "_" + std::to_string(t);
        gp << "set terminal png size 1280,720\n";
        gp << "set output '" << path << "_shennendistance.png'\n";

        for(int i=0; i < kld_data.size()-1; ++i){

            K::GnuplotPoint2 p1(i, kld_data[i]);
            K::GnuplotPoint2 p2(i+1, kld_data[i+1]);

            lines.addSegment(p1, p2);
        }

        plotkld.add(&lines);
        gp.draw(plotkld);
        gp.flush();
    }

    std::cout << "finished" << std::endl;
    sleep(1);

}

int main(int argc, char** argv) {

    //Testing files
    //run(data.BERKWERK, 6, "EVALBERGWERK");    // Nexus vor

    //for(int i = 0; i < 5; ++i){
        Settings::useKLB = false;
        //run(data.IPIN2017, 0, "ipin2017", Settings::Paths_IPIN2017::path1);
        run(data.IPIN2017, 1, "ipin2017", Settings::Paths_IPIN2017::path1);
        run(data.IPIN2017, 2, "ipin2017", Settings::Paths_IPIN2017::path2);
        //run(data.IPIN2017, 3, "ipin2017", Settings::Paths_IPIN2017::path2);
        run(data.IPIN2017, 5, "ipin2017", Settings::Paths_IPIN2017::path3);
        //run(data.IPIN2017, 4, "ipin2017", Settings::Paths_IPIN2017::path3);

        Settings::useKLB = true;
        //run(data.IPIN2017, 0, "ipin2017", Settings::Paths_IPIN2017::path1);
        run(data.IPIN2017, 1, "ipin2017", Settings::Paths_IPIN2017::path1);
        run(data.IPIN2017, 2, "ipin2017", Settings::Paths_IPIN2017::path2);
        //run(data.IPIN2017, 3, "ipin2017", Settings::Paths_IPIN2017::path2);
        run(data.IPIN2017, 5, "ipin2017", Settings::Paths_IPIN2017::path3);
        //run(data.IPIN2017, 4, "ipin2017", Settings::Paths_IPIN2017::path3);
    //}

}