#ifndef WIFIPROBABILITYFREE_H
#define WIFIPROBABILITYFREE_H

#include "WiFiProbability.h"
#include "model/WiFiModel.h"
#include "../../math/Distributions.h"

#include <unordered_map>

/**
 * compare WiFi-Measurements within LIVE (exact) predictions
 * just based on the distance to the access-point
 */
class WiFiObserverFree : public WiFiProbability {

private:

	const float sigma = 8.0f;

	const float sigmaPerSecond = 1.5f;

	WiFiModel& model;
	std::unordered_map<MACAddress, LocatedAccessPoint> aps;
	Floorplan::IndoorMap* map;

public:

	WiFiObserverFree(const float sigma, WiFiModel& model, const std::vector<LocatedAccessPoint>& aps) : sigma(sigma), model(model) {

		for (const LocatedAccessPoint& ap : aps) {
			this->aps.insert(std::pair<MACAddress, LocatedAccessPoint>(ap.getMAC(), ap));
		}

	}


	double getProbability(const Point3& pos, const Timestamp curTime, const WiFiMeasurements& obs) const {

		double prob = 1.0;

		for (const WiFiMeasurement& entry : obs.entries) {

			auto it = aps.find(entry.getAP().getMAC());

			// AP is unknown
			if (it == aps.end()) {continue;}

			// get the AP
			const LocatedAccessPoint& ap = it->second;

			// model and scan rssi
			const float modelRSSI = model.getRSSI(ap, pos);
			const float scanRSSI = entry.getRSSI();

			// the measurement's age
			const Timestamp age = curTime - entry.getTimestamp();

			// sigma grows with measurement age
			const float sigma = this->sigma + this->sigmaPerSecond * age.sec();

			// update probability
			prob *= Distribution::Normal<double>::getProbability(modelRSSI, sigma, scanRSSI);


		}

		return prob;

	}

	template <typename Node> double getProbability(const Node& n, const Timestamp curTime, const WiFiMeasurements& obs, const int age_ms = 0) const {
		throw "todo??";
	}

};

#endif // WIFIPROBABILITYFREE_H