#ifdef TODO_________WITH_TESTS

#include "../../Tests.h"

#include "../../../sensors/imu/MotionDetection.h"
#include "../../../sensors/imu/TurnDetection.h"
#include "../../../sensors/offline/FileReader.h"

/** visualize the motionAxis */
TEST(MotionDetection, motionAxis) {

	MotionDetection md;

	//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";

	//Walking with smartphone straight and always parallel to motion axis
	//std::string filename = getDataFile("motion/straight_potrait.csv");

	//straight_landscape_left/right: walking ~40 sec straight and changing every 5 seconds the mode. started with potrait. landscape routed either to left or right.
	std::string filename = getDataFile("motion/straight_landscape_left.csv");
	//std::string filename = getDataFile("motion/straight_landscape_right.csv");

	//straight_inturn_landscape: walked straight made a left turn and change the phone to landscape mode during the turn-phase
	//std::string filename = getDataFile("motion/straight_inturn_landscape.csv");

	//rounds_potrait: walked 3 rounds holding the phone in potrait mode. always making left turns.
	//std::string filename = getDataFile("motion/rounds_potrait.csv");

	//round_landscape: walked 3 rounds holding the phone in landscape mode. always making left turns.
	//std::string filename = getDataFile("motion/rounds_landscape.csv");

	//round potrait_to_landscape: walked 1 round with potrait, 1 with landscape and again potrait. the mode was change while walking straight not in a turn. always making left turns.
	//std::string filename = getDataFile("motion/rounds_potrait_to_landscape.csv");

	//rounds_pocket: had the phone in my jeans pocket screen pointed at my body and the phone was headfirst. pulled it shortly out after 2 rounds and rotated the phone 180° z-wise (screen not showing at me)
	//std::string filename = getDataFile("motion/rounds_pocket.csv");

	//table_flat: phone was flat on the table and moved slowly forward/backward for 60 cm.
	//std::string filename = getDataFile("motion/table_flat.csv");

	Offline::FileReader fr(filename);

	K::Gnuplot gp;
	K::GnuplotPlot plot;

	gp << "set xrange[-1:1]\n set yrange[-1:1]\n";


	Eigen::Vector2f curVec;
	float motionAxisAngleRad;
	Timestamp ts;
	Timestamp lastTs;

	//calc motion axis
	for (const Offline::Entry& e : fr.getEntries()) {

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

		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);
			curVec = md.getCurrentMotionAxis();
			motionAxisAngleRad = md.getMotionChangeInRad();
		}

		// start with the first available timestamp
		if (lastTs.isZero()) {lastTs = ts;}

		if(ts - lastTs > Timestamp::fromMS(500)) {

			lastTs = ts;

			K::GnuplotPoint2 raw_p1(0, 0);
			K::GnuplotPoint2 raw_p2(curVec(0,0), curVec(1,0));
			K::GnuplotPlotElementLines motionLines;
			motionLines.addSegment(raw_p1, raw_p2);
			plot.add(&motionLines);

			gp << "set label 111 ' Angle: " << motionAxisAngleRad * 180 / 3.14159  << "' at screen 0.1,0.1\n";

			gp.draw(plot);
			gp.flush();
			//usleep(5000*33);
		}
	}

	//was passiert bei grenzwerten. 90° oder sowas.
	//wie stabil ist die motion axis eigentlich?
	//erkenn wir aktuell überhaupt einen turn, wenn wir das telefon drehen?
	//wie hilft mir die motion achse? über einen faktor? in welchem verhältnis stehen motion axis und heading?

}

/** comparing motionAngle and turnAngle */
TEST(MotionDetection, motionAngle) {

	MotionDetection md;
	TurnDetection td;

	//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";

	//Walking with smartphone straight and always parallel to motion axis
	std::string filename = getDataFile("motion/straight_potrait.csv");

	//straight_landscape_left/right: walking ~40 sec straight and changing every 5 seconds the mode. started with potrait. landscape routed either to left or right.
	//std::string filename = getDataFile("motion/straight_landscape_left.csv");
	//std::string filename = getDataFile("motion/straight_landscape_right.csv");

	//straight_inturn_landscape: walked straight made a left turn and change the phone to landscape mode during the turn-phase
	//std::string filename = getDataFile("motion/straight_inturn_landscape.csv");

	//rounds_potrait: walked 3 rounds holding the phone in potrait mode. always making left turns.
	//std::string filename = getDataFile("motion/rounds_potrait.csv");

	//round_landscape: walked 3 rounds holding the phone in landscape mode. always making left turns.
	//std::string filename = getDataFile("motion/rounds_landscape.csv");

	//round potrait_to_landscape: walked 1 round with potrait, 1 with landscape and again potrait. the mode was change while walking straight not in a turn. always making left turns.
	//std::string filename = getDataFile("motion/rounds_potrait_to_landscape.csv");

	//rounds_pocket: had the phone in my jeans pocket screen pointed at my body and the phone was headfirst. pulled it shortly out after 2 rounds and rotated the phone 180° z-wise (screen not showing at me)
	//std::string filename = getDataFile("motion/rounds_pocket.csv");

	//table_flat: phone was flat on the table and moved slowly forward/backward for 60 cm.
	//std::string filename = getDataFile("motion/table_flat.csv");

	Offline::FileReader fr(filename);
	Timestamp ts;

	//save for later plotting
	std::vector<float> delta_motionAngles;
	std::vector<float> delta_turnAngles;

	//calc motion axis
	for (const Offline::Entry& e : fr.getEntries()) {

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

		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);
			delta_motionAngles.push_back(md.getMotionChangeInRad());

		} else if (e.type == Offline::Sensor::ACC) {
			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];
			delta_turnAngles.push_back(td.addGyroscope(ts, _gyr.data));
		}

	}

	//draw motion
	static K::Gnuplot gpMotion;
	K::GnuplotPlot plotMotion;
	K::GnuplotPlotElementLines motionLines;

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

		K::GnuplotPoint2 raw_p1(i, delta_motionAngles[i]);
		K::GnuplotPoint2 raw_p2(i + 1, delta_motionAngles[i+1]);
		motionLines.addSegment(raw_p1, raw_p2);

	}

	gpMotion << "set title 'Motion Detection'\n";
	plotMotion.add(&motionLines);
	gpMotion.draw(plotMotion);
	gpMotion.flush();


	//draw rotation
	static K::Gnuplot gpTurn;
	K::GnuplotPlot plotTurn;
	K::GnuplotPlotElementLines turnLines;

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

		K::GnuplotPoint2 raw_p1(i, delta_turnAngles[i]);
		K::GnuplotPoint2 raw_p2(i + 1, delta_turnAngles[i+1]);
		turnLines.addSegment(raw_p1, raw_p2);
	}

	gpTurn << "set title 'Turn Detection'\n";
	plotTurn.add(&turnLines);
	gpTurn.draw(plotTurn);
	gpTurn.flush();

	sleep(1);

}


#endif