#ifdef WITH_TESTS

#include "../../Tests.h"
#include "../../../sensors/radio/model/WiFiModelLogDist.h"

#include "../../../sensors/radio/WiFiGridEstimator.h"
#include "../../../sensors/radio/WiFiMeasurements.h"
#include "../../../sensors/radio/WiFiProbability.h"
#include "../../../sensors/radio/WiFiProbabilityFree.h"
#include "../../../sensors/radio/WiFiProbabilityGrid.h"

#include "../../../grid/Grid.h"

// ensure the class-name is unique!
struct TestNode190231 : public GridNode, public GridPoint, public WiFiGridNode<10> {

	TestNode190231(const int x_cm, const int y_cm, const int z_cm) : GridPoint(x_cm, y_cm, z_cm) {;}

};

/** test the RSSI storage. [we use only a single byte due to memory constraints, but allow 0.25 dB steps!] */
TEST(WiFiGridNodeAP, rssi) {

	for (float rssi = -40; rssi > -103; rssi -= 0.1f) {
		WiFiGridNodeAP ap(0, rssi);
		ASSERT_NEAR(rssi, ap.getRSSI(), 0.2f);	// max 0.2 dB variation from what it should be
	}

}

/** test the signal-strength limit: [-40: -103] */
TEST(WiFiGridNodeAP, rssiLimits) {

	// limit 1
	WiFiGridNodeAP ap1(0, -10);
	ASSERT_EQ(-40, ap1.getRSSI());

	// limit 2
	WiFiGridNodeAP ap2(0, -200);
	ASSERT_EQ(-103, ap2.getRSSI());

}



TEST(WiFiGridNode, ctor) {

	// ensure nodes are correctly empty initialized

	WiFiGridNode<10> node;
	ASSERT_EQ(0, node.getNumVisibleAPs());

	TestNode190231 node2(0,0,0);
	ASSERT_EQ(0, node2.getNumVisibleAPs());

}


// gnuplot debug dumps
TEST(WiFiGridModelLogDist, create) {

	int gs = 20;
	Grid<TestNode190231> grid(gs);

	for (int x = 0; x < 2000; x += gs) {
		for (int y = 0; y < 2000; y += gs) {
			grid.add(TestNode190231(x,y,0));
		}
	}

	std::cout << "GridNodeSize: " << sizeof(TestNode190231) << std::endl;

	const MACAddress ap1 = MACAddress("00:00:00:00:00:01");
	const MACAddress ap2 = MACAddress("00:00:00:00:00:02");
	const MACAddress ap3 = MACAddress("00:00:00:00:00:03");
	const MACAddress ap4 = MACAddress("00:00:00:00:00:04");

//	LocatedAccessPoint ap1, Point3( 0, 0,0));
//	LocatedAccessPoint ap2("00:00:00:00:00:02", Point3(20, 0,0));
//	LocatedAccessPoint ap3("00:00:00:00:00:03", Point3( 0,20,0));
//	LocatedAccessPoint ap4("00:00:00:00:00:04", Point3(20,20,0));
//	std::vector<LocatedAccessPoint> aps = {ap1, ap2, ap3, ap4};

	// model not populated -> must be empty
	ASSERT_EQ(0, grid[0].getNumVisibleAPs());

	WiFiModelLogDist model;
	model.addAP(ap1, WiFiModelLogDist::APEntry( Point3(0,0,0), -40, 1.5));
	model.addAP(ap2, WiFiModelLogDist::APEntry( Point3(20,0,0), -40, 1.5));
	model.addAP(ap3, WiFiModelLogDist::APEntry( Point3(0,20,0), -40, 1.5));
	model.addAP(ap4, WiFiModelLogDist::APEntry( Point3(20,20,0), -40, 1.5));

//	std::vector<AccessPoint> aps = {
//		AccessPoint(ap1), AccessPoint(ap2), AccessPoint(ap3), AccessPoint(ap4)
//	};

	WiFiGridEstimator::estimate(grid, model, 0);


	ASSERT_EQ(4, grid[0].getNumVisibleAPs());				// 4 APs visible at this node
	ASSERT_GT(0, grid[0].getRSSI("00:00:00:00:00:01"));		// non-zero RSSI
	ASSERT_GT(0, grid[0].getRSSI("00:00:00:00:00:02"));		// non-zero RSSI
	ASSERT_GT(0, grid[0].getRSSI("00:00:00:00:00:03"));		// non-zero RSSI
	ASSERT_GT(0, grid[0].getRSSI("00:00:00:00:00:04"));		// non-zero RSSI
	ASSERT_EQ(0, grid[0].getRSSI("00:00:00:00:00:05"));		// unknown AP -> 0 RSSI

	WiFiGridEstimator::dump(grid, "00:00:00:00:00:01", "/tmp/ap1.gp");
	WiFiGridEstimator::dump(grid, "00:00:00:00:00:02", "/tmp/ap2.gp");
	WiFiGridEstimator::dump(grid, "00:00:00:00:00:03", "/tmp/ap3.gp");
	WiFiGridEstimator::dump(grid, "00:00:00:00:00:04", "/tmp/ap4.gp");

	Timestamp ts = Timestamp::fromMS(10);

	WiFiMeasurements obs;
	obs.entries.push_back(WiFiMeasurement(MACAddress("00:00:00:00:00:01"), -55, ts));
	obs.entries.push_back(WiFiMeasurement(MACAddress("00:00:00:00:00:02"), -55, ts));
	obs.entries.push_back(WiFiMeasurement(MACAddress("00:00:00:00:00:03"), -55, ts));
	obs.entries.push_back(WiFiMeasurement(MACAddress("00:00:00:00:00:04"), -55, ts));

	WiFiObserverGrid<TestNode190231> observer(5.0f);
	const TestNode190231& gn = grid.getNodeFor(GridPoint(1000,1000,0));
	const float p = observer.getProbability(gn, ts, obs);

	observer.dump(grid, ts, obs, "/tmp/eval1.gp");
	std::cout << "see: /tmp/eval1.gp" << std::endl;

	int i = 0; (void) i;

}


#endif