#ifdef WITH_TESTS

#include "../../Tests.h"
#include "../../../sensors/radio/setup/WiFiOptimizer.h"
#include "../../../sensors/radio/setup/WiFiFingerprint.h"
#include "../../../misc/Debug.h"

#include <random>

/**
 * test the wifi-optimizer by generating synthetic fingerprints and optimizing parameters from them
 */
TEST(WiFiOptimizer, optimize) {


	const VAPGrouper vg(VAPGrouper::Mode::DISABLED, VAPGrouper::Aggregation::AVERAGE);

	const MACAddress mac1("00:00:00:00:00:01");
	const MACAddress mac2("00:00:00:00:00:02");

	const Point3 pos1(10, 12, 5);
	const Point3 pos2(20, -10, 2);

	// building with one floor at 3.0 meters
	Floorplan::IndoorMap map;
	Floorplan::Floor floor1; floor1.atHeight = 3.0f;
	Floorplan::FloorOutlinePolygon poly1; poly1.poly.points.push_back(Point2(-30, -30)); poly1.poly.points.push_back(Point2(+30, +30));
	floor1.outline.push_back(&poly1);
	map.floors.push_back(&floor1);

	// add the two APs to the model
	WiFiModelLogDistCeiling mdl(&map);
	mdl.addAP(mac1, WiFiModelLogDistCeiling::APEntry(pos1, -40, 2, -4));
	mdl.addAP(mac2, WiFiModelLogDistCeiling::APEntry(pos2, -40, 2, -4));

	// generate some (synthetic) fingerprints
	std::minstd_rand gen;
	std::vector<WiFiFingerprint> fingerprints;
	for (int i = 0; i < 50; ++i) {

		std::uniform_real_distribution<float> distX(-30, +30);
		std::uniform_real_distribution<float> distY(-30, +30);
		std::uniform_real_distribution<float> distZ( -9,  +9);

		// get a random position and calculate the model RSSIs
		const Point3 randomPt(distX(gen), distY(gen), distZ(gen));
		const float rssi1 = mdl.getRSSI(mac1, randomPt);
		const float rssi2 = mdl.getRSSI(mac2, randomPt);

		// construct a corresponding synthetic fingerprint
		WiFiFingerprint fp(randomPt);
		fp.measurements.entries.push_back(WiFiMeasurement(AccessPoint(mac1), rssi1));
		fp.measurements.entries.push_back(WiFiMeasurement(AccessPoint(mac2), rssi2));
		fingerprints.push_back(fp);

	}

	WiFiOptimizer opt(&map, vg);
	for (const WiFiFingerprint& fp : fingerprints) {
		opt.addFingerprint(fp);
	}

	ASSERT_EQ(2, opt.getAllMACs().size());
	float errRes;

	const WiFiOptimizer::APParams params1 = opt.optimize(mac1, errRes);
	ASSERT_TRUE(errRes < 0.1);
	ASSERT_NEAR(0, pos1.getDistance(params1.getPos()), 0.4);		// apx position estimation
	ASSERT_NEAR(-40, params1.txp, 1.0);
	ASSERT_NEAR(2, params1.exp, 0.1);
	ASSERT_NEAR(-4, params1.waf, 0.5);

	const WiFiOptimizer::APParams params2 = opt.optimize(mac2, errRes);
	ASSERT_TRUE(errRes < 0.1);
	ASSERT_NEAR(0, pos2.getDistance(params2.getPos()), 0.4);		// apx position estimation
	ASSERT_NEAR(-40, params1.txp, 1.0);
	ASSERT_NEAR(2, params2.exp, 0.1);
	ASSERT_NEAR(-4, params2.waf, 0.5);


}

#endif