#ifndef EVALWIFIGROUND_H
#define EVALWIFIGROUND_H

#include "Indoor/sensors/radio/setup/WiFiOptimizer.h"
#include "Indoor/sensors/radio/setup/WiFiFingerprint.h"
#include "Indoor/sensors/radio/setup/WiFiFingerprints.h"
#include "Indoor/sensors/radio/setup/WiFiOptimizer.h"
#include "Indoor/sensors/radio/model/WiFiModels.h"

#include "Indoor/sensors/radio/VAPGrouper.h"
#include "Indoor/sensors/offline/FileReader.h"

#include "Indoor/floorplan/v2/Floorplan.h"
#include "Indoor/floorplan/v2/FloorplanReader.h"
#include "Indoor/floorplan/v2/FloorplanHelper.h"
#include "Indoor/floorplan/v2/FloorplanCeilings.h"

#include <KLib/misc/gnuplot/Gnuplot.h>
#include <KLib/misc/gnuplot/GnuplotSplot.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementPoints.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementColorPoints.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
#include <KLib/misc/gnuplot/GnuplotPlot.h>
#include <KLib/misc/gnuplot/GnuplotPlotElementHistogram.h>

#include <KLib/math/statistics/Statistics.h>

#include "../Structs.h"
#include "../plots/Plotty.h"
#include "../plots/PlotErrTime.h"
#include "../plots/PlotErrFunc.h"
#include "../plots/PlotWiFiGroundProb.h"
//#include "../CSV.h"

#include <unordered_set>
#include <thread>

class EvalWiFiGround {

private:

	Floorplan::IndoorMap* map;
	WiFiModel* mdl;
	WiFiObserverFree* obs;

public:

	PlotWiFiGroundProb* groundProb;

public:

	EvalWiFiGround(Floorplan::IndoorMap* map, const std::string calibModel, Plotty::Settings settings = Plotty::Settings()) : map(map) {

		mdl = WiFiModelFactory(map).loadXML(calibModel);
		obs = new WiFiObserverFree(8.0, *mdl);
		groundProb = new PlotWiFiGroundProb(map, settings);

	}

	void show(const std::string walkFile, const int idx = -1) {

		Offline::FileReader reader(walkFile);
		int cnt = 0;

		for (const auto& entry : reader.getWiFiGroupedByTime()) {
			const WiFiMeasurements& mes = entry.data;
			groundProb->show(*obs, mes);
			groundProb->plotMe();
			//if (++cnt > 70) {break;}
			std::this_thread::sleep_for(std::chrono::milliseconds(2));
		}

		//groundProb->update();
		groundProb->plotMe();
		int i = 0; (void) i;

	}

	void add(const std::string walkFile, const int idx, const float hue) {

		VAPGrouper vap(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::AVERAGE);

		Offline::FileReader reader(walkFile);

		const auto& entry = reader.getWiFiGroupedByTime()[idx];
		const WiFiMeasurements& _mes = entry.data;
		const WiFiMeasurements mes = vap.group(_mes);

		groundProb->showStrongest(*obs, mes, hue);
		//groundProb->plotMe();
		//std::this_thread::sleep_for(std::chrono::milliseconds(2));

		//groundProb->update();
		//groundProb->plotMe();
		int i = 0; (void) i;

	}

	void addGT(const std::string walkFile, const int idx, const float hue, const std::vector<int>& path) {

		Offline::FileReader reader(walkFile);
		const auto& entry = reader.getWiFiGroupedByTime()[idx];
		const WiFiMeasurements& mes = entry.data;

		// gt at the time of the wifi measurement
		const Timestamp ts = mes.entries.front().getTimestamp();
		const Point3 pt = reader.getGroundTruth(map, path).get(ts);

		Color c1 = Color::fromRGB(0,0,0);
		Color c2 = Color::fromHSV(hue, 255, 255);

		groundProb->getPlot().addFloorRect(pt+Point3(0,0,0.200), 1.5, c1);
		groundProb->getPlot().addFloorRect(pt+Point3(0,0,0.201), 1.0, c2);

	}

	void writeGP(const std::string& path, const std::string& name) {

		const std::string file = path + "/" + name;

		groundProb->getPlot().splot.getCustom() << "unset border \n";
		groundProb->getPlot().splot.getCustom() << "set view equal xy\n";

		groundProb->getPlot().splot.getAxisX().setTicsVisible(false);
		groundProb->getPlot().splot.getAxisY().setTicsVisible(false);
		groundProb->getPlot().splot.getAxisZ().setTicsVisible(false);
		groundProb->getPlot().splot.getAxisZ().setRange(-12.500000, 21.200000);
		groundProb->getPlot().splot.getView().setCamera(72, 28);
		groundProb->getPlot().splot.getView().setScaleAll(5.5);

		groundProb->getPlot().gp.setTerminal("epslatex", K::GnuplotSize(8.6, 4.0));
		groundProb->getPlot().gp.setOutput(file+".tex");
		groundProb->getPlot().gp.writePlotToFile(file+".gp");
		groundProb->plotMe();
		groundProb->getPlot().gp.writePlotToFile("");

	}



};

#endif // EVALWIFIGROUND_H