#ifndef SYNTHETICSTEPS_H
#define SYNTHETICSTEPS_H

#include "../sensors/imu/AccelerometerData.h"
#include "SyntheticWalker.h"
#include "../math/distribution/Normal.h"

/** fakes accelerometer-data based on synthetic walking data */
class SyntheticSteps : SyntheticWalker::Listener {

public:

	class Listener {
	public:
		virtual void onSyntheticStepData(const Timestamp ts, const AccelerometerData acc) = 0;
	};

private:

	/** the walker to listen to */
	SyntheticWalker* walker;

	/** the pedestrian's step-size (in meter) */
	float stepSize_m = 0.7;

	float lastStepAtDistance = 0;

	Distribution::Normal<float> dX = Distribution::Normal<float>(0, 1);
	Distribution::Normal<float> dY = Distribution::Normal<float>(0, 1);
	Distribution::Normal<float> dZ = Distribution::Normal<float>(0, 1);

	std::vector<Listener*> listeners;

public:

	/** ctor with the walker to follow */
	SyntheticSteps(SyntheticWalker* walker) {
		walker->addListener(this);
	}

	void addListener(Listener* l) {
		this->listeners.push_back(l);
	}

protected:


	void onWalk(const Timestamp walkedTime, float walkedDistance, const Point3 curPos) override {

		const float nextStepAt = (lastStepAtDistance + stepSize_m);

		const float x = dX.draw();
		const float y = dY.draw();
		const float z = dZ.draw();
		AccelerometerData acc(x, y, z);

		if (walkedDistance > nextStepAt) {
			lastStepAtDistance = walkedDistance;
		}

		for (Listener* l : listeners) {l->onSyntheticStepData(walkedTime, acc);}

	}

};

#endif // SYNTHETICSTEPS_H