#include <iostream>

#include "filter/Structs.h"
#include "Plotti.h"

#include <chrono>

#include "filter/Logic.h"

#include <Indoor/floorplan/v2/Floorplan.h>
#include <Indoor/floorplan/v2/FloorplanReader.h>

#include <Indoor/grid/factory/v2/GridFactory.h>
#include <Indoor/grid/factory/v2/Importance.h>

#include <Indoor/geo/Point2.h>
#include <Indoor/sensors/offline/FileReader.h>

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

#include <Indoor/sensors/imu/TurnDetection.h>
#include <Indoor/sensors/imu/StepDetection.h>
#include <Indoor/sensors/imu/MotionDetection.h>
#include <Indoor/sensors/pressure/RelativePressure.h>
#include <Indoor/sensors/radio/WiFiGridEstimator.h>
#include <Indoor/sensors/beacon/model/BeaconModelLogDistCeiling.h>

#include <Indoor/math/MovingAVG.h>
#include <Indoor/math/FixedFrequencyInterpolator.h>
#include <Indoor/data/Timestamp.h>

#include "Settings.h"

#include <KLib/math/filter/particles/ParticleFilter.h>
#include <KLib/math/filter/particles/ParticleFilterHistory.h>
#include <KLib/math/filter/particles/ParticleFilterInitializer.h>

#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationWeightedAverage.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationRegionalWeightedAverage.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationOrderedWeightedAverage.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationKernelDensity.h>

#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingSimple.h>
#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingPercent.h>


#include <Indoor/geo/Heading.h>

//frank
//const std::string mapDir = "/mnt/data/workspaces/IPIN2016/IPIN2016/competition/maps/";
//const std::string dataDir = "/mnt/data/workspaces/IPIN2016/IPIN2016/competition/src/data/";

//toni
const std::string mapDir = "/home/toni/Documents/programme/localization/russenJournal/russen/map/";
const std::string dataDir = "/home/toni/Documents/programme/localization/russenJournal/russen/data/";
const std::string errorDir = dataDir  + "results/";

/** describes one dataset (map, training, parameter-estimation, ...) */
struct DataSetup {
	std::string map;
	std::vector<std::string> training;
	std::string wifiParams;
	int minWifiOccurences;
	VAPGrouper::Mode vapMode;
    std::string grid;
};

/** all configured datasets */
struct Data {

    DataSetup BERKWERK = {

        mapDir + "SHL/SHL25.xml",

        {
            dataDir + "bergwerk/path1/nexus/vor/1454775984079.csv",
            dataDir + "bergwerk/path1/galaxy/vor/1454776168794.csv",
            dataDir + "bergwerk/path2/nexus/vor/1454779863041.csv",
            dataDir + "bergwerk/path2/galaxy/vor/1454780113404.csv",
            dataDir + "bergwerk/path3/nexus/vor/1454782562231.csv",
            dataDir + "bergwerk/path3/galaxy/vor/1454782896548.csv",
            dataDir + "bergwerk/path4/nexus/vor/1454776525797.csv",
            dataDir + "bergwerk/path4/galaxy/vor/1454779020844.csv"
        },

        dataDir + "bergwerk/wifiParams.txt",
        40,
        VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO,
        mapDir + "SHL/grid25.dat"
    };

    DataSetup IPIN2015 = {

        mapDir + "SHL/SHL_IPIN2015_gt.xml",

        {
            dataDir + "ipin2015/galaxy/Path0/1433581471902.csv",
            dataDir + "ipin2015/nexus/Path0/1433606195078.csv",
            dataDir + "ipin2015/galaxy/Path1/1433587749492.csv",
            dataDir + "ipin2015/nexus/Path1/1433606670723.csv",
            dataDir + "ipin2015/galaxy/Path2/1433581471902.csv",
            dataDir + "ipin2015/nexus/Path2/1433607251262.csv",
            dataDir + "eiszeit/path2/1479986737368.csv"
        },

        dataDir + "bergwerk/wifiParams.txt",
        40,
        VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO,
        mapDir + "SHL/grid_IPIN2015_gt.dat"
    };

} data;


Floorplan::IndoorMap* MyState::map;

void run(DataSetup setup, int numFile, std::string folder) {

    // load the floorplan
    Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(setup.map);
    MyState::map = map;

    WiFiModelLogDistCeiling WiFiModel(map);
    WiFiModel.loadAPs(map, Settings::WiFiModel::TXP, Settings::WiFiModel::EXP, Settings::WiFiModel::WAF);
    Assert::isFalse(WiFiModel.getAllAPs().empty(), "no AccessPoints stored within the map.xml");

    BeaconModelLogDistCeiling beaconModel(map);
    beaconModel.loadBeaconsFromMap(map, Settings::BeaconModel::TXP, Settings::BeaconModel::EXP, Settings::BeaconModel::WAF);
    Assert::isFalse(beaconModel.getAllBeacons().empty(), "no Beacons stored within the map.xml");


    // build the grid
    std::ifstream inp(setup.grid, std::ifstream::binary);
    Grid<MyNode> grid(20);

    // grid.dat empty? -> build one and save it
    if (!inp.good() || (inp.peek()&&0) || inp.eof()) {
        std::ofstream onp;
        onp.open(setup.grid);
        GridFactory<MyNode> factory(grid);
        factory.build(map);
        grid.write(onp);
    } else {
        grid.read(inp);
    }


    // add node-importance
    Importance::addImportance(grid);

    // stamp WiFi signal-strengths onto the grid
    WiFiGridEstimator::estimate(grid, WiFiModel, Settings::smartphoneAboveGround);

    // reading file
    FileReader fr(setup.training[numFile]);



    // doing ground truth stuff
    std::vector<int> path_0 = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 2, 1, 0};
    std::vector<int> path_1 = {29, 28, 27, 26, 25, 24, 23, 22, 21, 20, 13, 14, 15, 16, 17, 18, 19, 2, 1, 0};
    std::vector<int> path_2 = {29, 28, 27, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0, 1, 2, 19, 18, 17, 16, 15, 14, 13, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29};
    Interpolator<uint64_t, Point3> gtInterpolator = fr.getGroundTruthPath(map, path_1);


    Plotti plot;
    plot.addFloors(map);
    plot.addOutline(map);
    plot.addStairs(map);
    plot.gp << "set autoscale xy\n";
    //plot.addGrid(grid);


    // init ctrl and observation
    MyControl ctrl;
    ctrl.resetAfterTransition();
    MyObs obs;

    int numParticles = 10000;

    PFEval* eval = new PFEval(WiFiModel, beaconModel, grid);

    //filter init
    //std::unique_ptr<PFInit> init =
    //K::ParticleFilterHistory<MyState, MyControl, MyObs> pf(numParticles, std::unique_ptr<PFInit>(new PFInit(grid)));
    K::ParticleFilterHistory<MyState, MyControl, MyObs> pf(numParticles, std::unique_ptr<PFInitFixed>(new PFInitFixed(grid, GridPoint(1120.0f, 750.0f, 1080.0f), 90.0f)));
    pf.setTransition(std::unique_ptr<PFTrans>(new PFTrans(grid, &ctrl)));
    pf.setEvaluation(std::unique_ptr<PFEval>(eval));

    //resampling
    pf.setResampling(std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()));
    //pf.setResampling(std::unique_ptr<K::ParticleFilterResamplingPercent<MyState>>(new K::ParticleFilterResamplingPercent<MyState>(0.4)));
    pf.setNEffThreshold(0.95);

    //estimation
    //pf.setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
    //pf.setEstimation(std::unique_ptr<K::ParticleFilterEstimationRegionalWeightedAverage<MyState>>(new K::ParticleFilterEstimationRegionalWeightedAverage<MyState>()));
    pf.setEstimation(std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.95)));
    //pf.setEstimation(std::unique_ptr<K::ParticleFilterEstimationKernelDensity<MyState, 3>>(new K::ParticleFilterEstimationKernelDensity<MyState, 3>()));


    Timestamp lastTimestamp = Timestamp::fromMS(0);

    StepDetection sd;
    TurnDetection td;
    MotionDetection md;

    RelativePressure relBaro;	relBaro.setCalibrationTimeframe( Timestamp::fromMS(5000) );

    K::Statistics<float> errorStats;

    //file writing for error data
    long int t = static_cast<long int>(time(NULL));
    std::ofstream errorFile;
    errorFile.open (errorDir +  folder + "/error_" + std::to_string(numFile) + "_" + std::to_string(t) + ".csv");

    // parse each sensor-value within the offline data
    for (const FileReader::Entry& e : fr.getEntries()) {

        const Timestamp ts = Timestamp::fromMS(e.ts);

        if (e.type == FileReader::Sensor::WIFI) {
            obs.wifi = fr.getWiFiGroupedByTime()[e.idx].data;

        } else if (e.type == FileReader::Sensor::BEACON){
            obs.beacons.entries.push_back(fr.getBeacons()[e.idx].data);

            // remove to old beacon measurements
            obs.beacons.removeOld(ts);

        } else if (e.type == FileReader::Sensor::ACC) {
            if (sd.add(ts, fr.getAccelerometer()[e.idx].data)) {
                ++ctrl.numStepsSinceLastTransition;
            }
            const FileReader::TS<AccelerometerData>& _acc = fr.getAccelerometer()[e.idx];
            td.addAccelerometer(ts, _acc.data);

        } else if (e.type == FileReader::Sensor::GYRO) {
            const FileReader::TS<GyroscopeData>& _gyr = fr.getGyroscope()[e.idx];
            const float delta_gyro = td.addGyroscope(ts, _gyr.data);

            ctrl.turnSinceLastTransition_rad += delta_gyro;

        } else if (e.type == FileReader::Sensor::BARO) {
            relBaro.add(ts, fr.getBarometer()[e.idx].data);
            obs.relativePressure = relBaro.getPressureRealtiveToStart();
            obs.sigmaPressure = relBaro.getSigma();

        } else if (e.type == FileReader::Sensor::LIN_ACC) {
            md.addLinearAcceleration(ts, fr.getLinearAcceleration()[e.idx].data);

        } else if (e.type == FileReader::Sensor::GRAVITY) {
            md.addGravity(ts, fr.getGravity()[e.idx].data);
            Eigen::Vector2f curVec = md.getCurrentMotionAxis();
            ctrl.motionDeltaAngle_rad = md.getMotionChangeInRad();
        }

        if (ts.ms() - lastTimestamp.ms() > 500) {

            obs.currentTime = ts;

            MyState est = pf.update(&ctrl, obs);
            Point3 estPos = est.position.inMeter();

            //current ground truth position
            Point3 gtPos = gtInterpolator.get(static_cast<uint64_t>(ts.ms()));

            plot.pInterest.clear();

            // plotting stuff
            static float angleSum = 0; angleSum += ctrl.turnSinceLastTransition_rad;
            //plot.showAngle(1, ctrl.turnAngle);
            plot.showAngle(2, angleSum + M_PI);

            //plot.debugWiFi(eval->model, obs.wifis, obs.curTS);
            //plot.debugProb(grid, std::bind(&PFEval::getGPS, eval, std::placeholders::_1, std::placeholders::_2), obs);
            //plot.debugProb(grid, std::bind(&PFEval::getWIFI, eval, std::placeholders::_1, std::placeholders::_2), obs);
            //plot.debugProb(grid, std::bind(&PFEval::getALL, eval, std::placeholders::_1, std::placeholders::_2), obs);

            plot.setEst(estPos);
            plot.setGT(gtPos);
            plot.addEstimationNode(estPos);
            plot.addParticles(pf.getParticles());
            //plot.gp << "set arrow 919 from " << tt.pos.x << "," << tt.pos.y << "," << tt.pos.z << " to "<< tt.pos.x << "," << tt.pos.y << "," << tt.pos.z+1 << "lw 3\n";

            //plot.gp << "set label 1001 at screen 0.02, 0.98 'base:" << relBaro.getBaseAvg() << " sigma:" << relBaro.getSigma() << " cur:" << relBaro.getPressureRealtiveToStart() << " hPa " << -relBaro.getPressureRealtiveToStart()/0.10/4.0f << " floor'\n";
            int minutes = static_cast<int>(ts.sec()) / 60;
            plot.gp << "set label 1002 at screen 0.02, 0.94 'Time: " << minutes << ":" << static_cast<int>(static_cast<int>(ts.sec())%60) << "'\n";
            //plot.gp << "set label 1002 at screen 0.98, 0.98 'act:" <<  ctrl.barometer.act << "'\n";

            // error between GT and estimation
            float err_m = gtPos.getDistance(estPos);
            errorStats.add(err_m);
            errorFile << err_m << "\n";

            plot.show();
            usleep(33*10);


            lastTimestamp = ts;

            // reset control
            ctrl.resetAfterTransition();
        }

    }

    errorFile.close();

    std::cout << "Statistical Analysis: " << std::endl;
    std::cout << "Median: " << errorStats.getMedian() << " Average: " << errorStats.getAvg() << std::endl;

    //Write the current plotti buffer into file
    std::ofstream plotFile;
    plotFile.open(errorDir + std::to_string(numFile) + "_" + std::to_string(t) + ".gp");
    plot.saveToFile(plotFile);
    plotFile.close();

//    for(int i = 0; i < map->floors.size(); ++i){
//        plot.printSingleFloor("/home/toni/Documents/programme/localization/IPIN2016/competition/eval/"+ folder + "/image" + std::to_string(numFile) + "_" + std::to_string(t), i);
//        plot.show();
//        usleep(1000*10);
//    }

//    plot.printSideView("/home/toni/Documents/programme/localization/IPIN2016/competition/eval/"+ folder + "/image" + std::to_string(numFile) + "_" + std::to_string(t), 90);
//    plot.show();

//    plot.printSideView("/home/toni/Documents/programme/localization/IPIN2016/competition/eval/"+ folder + "/image" + std::to_string(numFile) + "_" + std::to_string(t), 0);
//    plot.show();

//    plot.printOverview("/home/toni/Documents/programme/localization/IPIN2016/competition/eval/"+ folder + "/image" + std::to_string(numFile) + "_" + std::to_string(t));
//    plot.show();

    sleep(1);

}

int main(int argc, char** argv) {

    //Testing files
    //run(data.BERKWERK, 6, "EVALBERGWERK");    // Nexus vor
    run(data.IPIN2015, 3, "EVALIPIN2015");    // Nexus Path2

}