#ifndef RAY2_H
#define RAY2_H

#include "misc.h"

#include <Indoor/wifi/estimate/ray2d/WiFiRayTrace2D.h>
#include <Indoor/floorplan/v2/FloorplanReader.h>
#include <fstream>

void dumpRay2(const WiFiRaytrace2D& rt, const DataMapSignal& dms);

void ray2() {

	//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::Floor* floor = map->floors[0];
	Floorplan::AccessPoint* ap = floor->accesspoints[4];


	const int gs_cm = 50;

	WiFiRaytrace2D rt(floor, gs_cm, ap->pos.xy());

	std::chrono::time_point<std::chrono::high_resolution_clock> start = std::chrono::high_resolution_clock::now();
	const DataMapSignal& 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) {dumpRay2(rt, dms);}

}

void dumpRay2(const WiFiRaytrace2D& rt, const DataMapSignal& dms) {

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

	std::stringstream tmp;

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

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

		if (rssi > -100) {
			++lines;
			const int v = ((rssi - min) / (max-min)) * 255;		// color
			tmp
				<< x << sep << y << 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 // RAY2_H