#ifdef WITH_TESTS

#include "../Tests.h"
#include "../../wifi/estimate/ray3/WifiRayTrace3D.h"
#include "../../floorplan/v2/FloorplanReader.h"
#include <fstream>
using namespace Ray3D;

TEST(RayTrace3, test) {


	//std::string file = "/mnt/data/workspaces/raytest2.xml";
	//Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(file);
	//Floorplan::AccessPoint* ap = map->floors[0]->accesspoints[0];

	//std::string file = "/apps/SHL39.xml";
	std::string file = "/mnt/data/workspaces/IndoorMap/maps/SHL39.xml";
	Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(file);
	Floorplan::AccessPoint* ap = map->floors[0]->accesspoints[4];

	Builder fac(map);
	std::ofstream outOBJ("/tmp/vm/map.obj");
	outOBJ << fac.getMesh().toOBJ("obj").obj;
	outOBJ.close();

	const int gs_cm = 50;

	WiFiRaytrace3D rt(map, gs_cm, ap->pos);

	std::chrono::time_point<std::chrono::high_resolution_clock> start = std::chrono::high_resolution_clock::now();
	const DataMap3Signal& dms = rt.estimate();
	std::chrono::time_point<std::chrono::high_resolution_clock> end = std::chrono::high_resolution_clock::now();
	auto result = std::chrono::duration_cast<std::chrono::milliseconds>(end-start).count();
	std::cout << "it took: " << result << " msec" << std::endl;

	if (1 == 1) {

		const char sep = ' ';
		int lines = 0;

		std::stringstream tmp;

		auto lambda = [&] (const float x, const float y, const float z, const DataMap3SignalEntry& e) {

			const float min = -120;
			const float max = -40;
			float rssi = e.getMaxRSSI();
			if (rssi > max) {rssi = max;}

			if (z < 1.0 || z > 1.0) {return;}

			if (rssi > -100) {
				++lines;
				const int v = ((rssi - min) / (max-min)) * 255;		// color
				tmp
					<< x << sep << y << sep << z << sep
					<< v << sep << v << sep << v
					<< "\n";
			}
		};


		dms.forEach(lambda);

		std::ofstream out("/tmp/vm/grid.ply");
		out << "ply\n";
		out << "format ascii 1.0\n";
		out << "comment VCGLIB generated\n";
		out << "element vertex " << lines << "\n";
		out << "property float x\n";
		out << "property float y\n";
		out << "property float z\n";
		out << "property uchar red\n";
		out << "property uchar green\n";
		out << "property uchar blue\n";
		out << "element face 0\n";
		out << "property list uchar int vertex_indices\n";
		out << "end_header\n";
		out << tmp.str();
		out.close();

		std::cout << "lines: " << lines << std::endl;


		std::ofstream outHits("/tmp/vm/hits.xyz.txt");
		for (const Point3 hit : rt.getHitEnter()) {
			outHits << hit.x << sep << hit.y << sep << hit.z << sep << 0 << sep << 255 << sep << 0 << "\n";
		}
		for (const Point3 hit : rt.getHitLeave()) {
			outHits << hit.x << sep << hit.y << sep << hit.z  << sep << 0 << sep << 0 << sep << 255 << "\n";
		}
		for (const Point3 hit : rt.getHitStop()) {
			outHits << hit.x << sep << hit.y << sep << hit.z  << sep << 0 << sep << 0 << sep << 0 << "\n";
		}
		outHits.close();

	}

}

#endif