#ifndef INDOOR_IMU_POSEDETECTIONPLOT_H
#define INDOOR_IMU_POSEDETECTIONPLOT_H

#ifdef WITH_DEBUG_PLOT

	#include <KLib/misc/gnuplot/Gnuplot.h>
	#include <KLib/misc/gnuplot/GnuplotSplot.h>
	#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
	#include <KLib/misc/gnuplot/GnuplotPlot.h>
	#include <KLib/misc/gnuplot/GnuplotPlotElementLines.h>
	//#include <KLib/misc/gnuplot/GnuplotMultiplot.h>
	#include <KLib/misc/gnuplot/GnuplotSplot.h>
	#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
	//#include <KLib/misc/gnuplot/GnuplotSplotElementEmpty.h>

	#include "../../data/Timestamp.h"
	#include "../../math/Matrix3.h"
	#include "AccelerometerData.h"

    class PoseDetectionPlotAngles {

		Timestamp plotRef;
		Timestamp lastPlot;

		K::Gnuplot gp;

		K::GnuplotPlot plotAcc;

		K::GnuplotPlotElementLines lineAccX;
		K::GnuplotPlotElementLines lineAccY;

		K::GnuplotPlotElementLines lineGyroX;
		K::GnuplotPlotElementLines lineGyroY;

		K::GnuplotPlotElementLines lineFusedX;
		K::GnuplotPlotElementLines lineFusedY;

	public:

		PoseDetectionPlotAngles() {

			gp << "set autoscale xfix\n";

			plotAcc.setTitle("Accelerometer");

			plotAcc.add(&lineFusedX); lineFusedX.getStroke().getColor().setHexStr("#990000"); lineFusedX.setTitle("FusedX");lineFusedX.getStroke().setWidth(3);
			plotAcc.add(&lineFusedY); lineFusedY.getStroke().getColor().setHexStr("#09900"); lineFusedY.setTitle("FusedY");	lineFusedY.getStroke().setWidth(3);

			plotAcc.add(&lineAccX); lineAccX.getStroke().getColor().setHexStr("#ff8888"); lineAccX.setTitle("AccX");		lineAccX.getStroke().setType(K::GnuplotDashtype::DOTTED);		lineAccX.getStroke().setWidth(2);
			plotAcc.add(&lineAccY); lineAccY.getStroke().getColor().setHexStr("#88ff88"); lineAccY.setTitle("AccY");		lineAccY.getStroke().setType(K::GnuplotDashtype::DOTTED);		lineAccY.getStroke().setWidth(2);

			plotAcc.add(&lineGyroX); lineGyroX.getStroke().getColor().setHexStr("#ff8888"); lineGyroX.setTitle("GyroX");	lineGyroX.getStroke().setType(K::GnuplotDashtype::DASHED);		lineGyroX.getStroke().setWidth(2);
			plotAcc.add(&lineGyroY); lineGyroY.getStroke().getColor().setHexStr("#88ff88"); lineGyroY.setTitle("GyroY");	lineGyroY.getStroke().setType(K::GnuplotDashtype::DASHED);		lineGyroY.getStroke().setWidth(2);

			plotAcc.getKey().setVisible(true);

		}

		void addAcc(Timestamp ts, float x, float y) {
			if (plotRef.isZero()) {plotRef = ts;}
			const Timestamp tsPlot = (ts-plotRef);
			lineAccX.add( K::GnuplotPoint2(tsPlot.ms(), x) );
			lineAccY.add( K::GnuplotPoint2(tsPlot.ms(), y) );
		}

		void addGyro(Timestamp ts, float x, float y) {
			if (plotRef.isZero()) {plotRef = ts;}
			const Timestamp tsPlot = (ts-plotRef);
			lineGyroX.add( K::GnuplotPoint2(tsPlot.ms(), x) );
			lineGyroY.add( K::GnuplotPoint2(tsPlot.ms(), y) );
		}

		void addFused(Timestamp ts, float x, float y) {
			if (plotRef.isZero()) {plotRef = ts;}
			const Timestamp tsPlot = (ts-plotRef);
			lineFusedX.add( K::GnuplotPoint2(tsPlot.ms(), x) );
			lineFusedY.add( K::GnuplotPoint2(tsPlot.ms(), y) );
			if (++cnt % 40 == 0) {flush(ts);}
		}



	private:

		int cnt = 0;

		void flush(Timestamp ts) {
			cleanup(ts);
			gp.draw(plotAcc);
			gp.flush();
		}

		// remove old  entries
		void cleanup(Timestamp ts) {
			const Timestamp tsPlot = (ts-plotRef);
			const Timestamp tsOldest = tsPlot - Timestamp::fromMS(3000);
			auto remove = [tsOldest] (const K::GnuplotPoint2 pt) {return pt.x < tsOldest.ms();};
			lineAccX.removeIf(remove);
			lineAccY.removeIf(remove);
			lineGyroX.removeIf(remove);
			lineGyroY.removeIf(remove);
			lineFusedX.removeIf(remove);
			lineFusedY.removeIf(remove);
		}



	};

	class PoseDetectionPlot {

		Timestamp plotRef;
		Timestamp lastPlot;

		K::Gnuplot gp2;

		K::GnuplotSplot plotPose;
		K::GnuplotSplotElementLines linePose;
		//K::GnuplotSplotElementEmpty emptyPose;

		std::vector<std::vector<std::vector<float>>> pose;

	public:

		/** ctor */
		PoseDetectionPlot() {

			//gp1 << "set autoscale xfix\n";
			gp2 << "set view equal xyz\n";

			plotPose.setTitle("Pose");
			plotPose.getView().setEnabled(false);
			plotPose.add(&linePose);
			//plotPose.add(&emptyPose);

			plotPose.getAxisX().setRange(-8,+8);
			plotPose.getAxisY().setRange(-8,+8);
			plotPose.getAxisZ().setRange(-8,+8);

			plotPose.getAxisX().setLabel("x");
			plotPose.getAxisY().setLabel("y");
			plotPose.getAxisZ().setLabel("z");

			const float a = 0.05; const float b = 0.95;
			pose = {
				{{0, 0, 0},{1, 0, 0},{1, 1, 0},{0, 1, 0},{0, 0, 0}}, // boden
				{{0, 0, 0},{0, 0, 1},{0, 1, 1},{0, 1, 0},{0, 0, 0}}, // links
				{{1, 0, 0},{1, 0, 1},{1, 1, 1},{1, 1, 0},{1, 0, 0}}, // rechts
				{{0, 1, 0},{1, 1, 0},{1, 1, 1},{0, 1, 1},{0, 1, 0}}, // oben
				{{0, 0, 0},{1, 0, 0},{1, 0, 1},{0, 0, 1},{0, 0, 0}}, // unten
				{{0, 0, 1},{1, 0, 1},{1, 1, 1},{0, 1, 1},{0, 0, 1}}, // deckel
				{{a, 0.15, 1},{b, 0.15, 1},{b, 0.95, 1},{a, 0.95, 1},{a, 0.15, 1}},	// display
			};

			//K::GnuplotStroke stroke(K::GnuplotDashtype::SOLID, 1, K::GnuplotColor::fromHexStr("#000000"));
			K::GnuplotStroke stroke = K::GnuplotStroke::NONE();
			K::GnuplotFill fillOut = K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#999999"));
			K::GnuplotFill fillSide = K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#666666"));
			K::GnuplotFill fillDisp = K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#333333"));

			plotPose.getObjects().set(1, new K::GnuplotObjectPolygon(fillOut, stroke));
			plotPose.getObjects().set(2, new K::GnuplotObjectPolygon(fillSide, stroke));
			plotPose.getObjects().set(3, new K::GnuplotObjectPolygon(fillSide, stroke));
			plotPose.getObjects().set(4, new K::GnuplotObjectPolygon(fillSide, stroke));
			plotPose.getObjects().set(5, new K::GnuplotObjectPolygon(fillSide, stroke));
			plotPose.getObjects().set(6, new K::GnuplotObjectPolygon(fillOut, stroke));
			plotPose.getObjects().set(7, new K::GnuplotObjectPolygon(fillDisp, stroke));

		}

		void setName(const std::string& name) {
			plotPose.setTitle(name);
		}

		void add(Timestamp ts, const Vector3& avg, const Matrix3& rotation) {
			add(ts, AccelerometerData(avg.x, avg.y, avg.z), rotation);
		}

		void add(Timestamp ts, const AccelerometerData& avg, const Matrix3& rotation) {

			if (plotRef.isZero()) {plotRef = ts;}
			const Timestamp tsPlot = (ts-plotRef);
			const Timestamp tsOldest = tsPlot - Timestamp::fromMS(5000);

			if (lastPlot + Timestamp::fromMS(50) < tsPlot) {
				lastPlot = tsPlot;

				// update 3D smartphone model
				for (size_t i = 0; i < pose.size(); ++i) {
					K::GnuplotObjectPolygon* gp = (K::GnuplotObjectPolygon*) plotPose.getObjects().get(i+1); gp->clear();
					for (const std::vector<float>& pts : pose[i]) {
						const Vector3 vec1(pts[0], pts[1], pts[2]);
						const Vector3 vec2 = vec1 - Vector3(0.5, 0.5, 0.5);			// center cube at 0,0,0
						const Vector3 vec3 = vec2 * Vector3(7, 15, 1);				// stretch cube
						const Vector3 vec4 = rotation * vec3;
						gp->add(K::GnuplotCoordinate3(vec4.x, vec4.y, vec4.z, K::GnuplotCoordinateSystem::FIRST));
					}
				}

//				// update un-rotated 3D smartphone model
//				for (size_t i = 0; i < pose.size(); ++i) {
//					K::GnuplotObjectPolygon* gp = (K::GnuplotObjectPolygon*) plotPose.getObjects().get(i+1); gp->clear();
//					for (const std::vector<float>& pts : pose[i]) {
//						const Vector3 vec1(pts[0], pts[1], pts[2]);
//						const Vector3 vec2 = vec1 - Vector3(0.5, 0.5, 0.5);			// center cube at 0,0,0
//						const Vector3 vec3 = vec2 * Vector3(7, 15, 1);				// stretch cube
//						const Vector3 vec4 = rotation * vec3;

//						gp->add(K::GnuplotCoordinate3(vec4.x, vec4.y, vec4.z, K::GnuplotCoordinateSystem::FIRST));
//					}
//				}

				// add coordinate system
				const Vector3 vx = rotation * Vector3(2,0,0);
				const Vector3 vy = rotation * Vector3(0,3,0);
				const Vector3 vz = rotation * Vector3(0,0,5);
				const Vector3 vA = Vector3(avg.x, avg.y, -avg.z) * 1;
				linePose.clear();
				linePose.addSegment(K::GnuplotPoint3(0,0,0), K::GnuplotPoint3(vx.x, vx.y, vx.z));
				linePose.addSegment(K::GnuplotPoint3(0,0,0), K::GnuplotPoint3(vy.x, vy.y, vy.z));
				linePose.addSegment(K::GnuplotPoint3(0,0,0), K::GnuplotPoint3(vz.x, vz.y, vz.z));
				linePose.addSegment(K::GnuplotPoint3(0,0,0), K::GnuplotPoint3(vA.x, vA.y, vA.z));

				gp2 << "set label 91 at " << vx.x << "," << vx.y << "," << vx.z << " 'x' \n";
				gp2 << "set label 92 at " << vy.x << "," << vy.y << "," << vy.z << " 'y' \n";
				gp2 << "set label 93 at " << vz.x << "," << vz.y << "," << vz.z << " 'z' \n";
				gp2 << "set label 99 at " << vA.x << "," << vA.y << "," << vA.z << " 'accel' \n";


				// 3D pose
				gp2.draw(plotPose);
				gp2.flush();


			}

		}

	};

#endif

#endif // INDOOR_IMU_POSEDETECTIONPLOT_H