#ifndef SETTINGS_H
#define SETTINGS_H

#include <Indoor/grid/GridPoint.h>
#include <Indoor/data/Timestamp.h>
#include <Indoor/sensors/radio/VAPGrouper.h>

#include <QFile>
#include <QDir>

namespace Settings {

    const int numParticles = 5000;

	namespace IMU {
		const float turnSigma = 1.5;		// 3.5
		const float stepLength = 0.80;
        const float stepSigma = 0.40; //toni changed
	}

	const float smartphoneAboveGround = 1.3;

	const float offlineSensorSpeedup = 2;

	namespace Grid {
		constexpr int gridSize_cm = 20;
	}





	//const GridPoint destination = GridPoint(70*100, 35*100, 0*100);		// use destination
	const GridPoint destination = GridPoint(0,0,0);							// do not use destination

	namespace SensorDebug {
		const Timestamp updateEvery = Timestamp::fromMS(200);
	}

	namespace WiFiModel {

        constexpr float sigma = 10.0; //TODO: im Museum hatten wir 8.0

		/** if the wifi-signal-strengths are stored on the grid-nodes, this needs a grid rebuild! */
        constexpr float TXP = -45;
        constexpr float EXP = 2.3;
        constexpr float WAF = -5.0;

		// how to perform VAP grouping. see
		// - calibration in Controller.cpp
		// - eval in Filter.h
		// NOTE: maybe the UAH does not allow valid VAP grouping? delete the grid and rebuild without!
		const VAPGrouper vg_calib = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::AVERAGE);
		const VAPGrouper vg_eval  = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::AVERAGE);
//		const VAPGrouper vg_calib = VAPGrouper(VAPGrouper::Mode::DISABLED, VAPGrouper::Aggregation::AVERAGE);
//		const VAPGrouper vg_eval  = VAPGrouper(VAPGrouper::Mode::DISABLED, VAPGrouper::Aggregation::AVERAGE);
	}



	namespace MapView3D {
		const int maxColorPoints = 10000;
		constexpr int fps = 15;
		const Timestamp msPerFrame = Timestamp::fromMS(1000/fps);
	}

	namespace Filter {
		const Timestamp updateEvery = Timestamp::fromMS(500);
		constexpr bool useMainThread = false;						// perform filtering in the main thread
	}

	namespace Data {

		// notes
		// copy:	scp -P 2222 /tmp/grid.dat kazu@192.168.24.11:/storage/sdcard1/YASMIN/maps/car/
		// all:		scp -P 2222 -r /apps/android/workspace/YASMIN_DATA/* kazu@192.168.24.11:/storage/sdcard1/YASMIN/

		static inline std::string getRoot() {
			#ifdef ANDROID
			//		const std::string folder = getenv("EXTERNAL_STORAGE") + std::string("/YASMIN/maps/");		// this is NOT the sdcard?!
			//		qDebug(folder.c_str());
			//		return folder;
					//return "/storage/sdcard1/YASMIN/";
				//const std::string f1 = "/storage/sdcard1/YASMIN/";
				//const std::string f2 = "/sdcard/YASMIN/";
				//if (QFile(f1.c_str()).exists()) {return f1;}
				//if (QFile(f2.c_str()).exists()) {return f2;}
				std::string tried;
				QDir dStorage("/storage");
				QStringList lst = dStorage.entryList();
                lst.append("sdcard/YASMIN/");
                lst.append("emulated/0");

                //TODO: THIS IS A MESS, PURE CHAOS xD

				// try each potential folder
				for (const QString subfolder : lst) {
					QString path = dStorage.path() + "/" + subfolder + "/YASMIN/";
					if (QFile(path).exists()) {return path.toStdString();}
					tried += path.toStdString() + "\n";
				}
				throw Exception("data folder missing. tried:\n" + tried);
			#else
				//return "/home/toni/Documents/programme/localization/YASMIN/YASMIN_DATA/";
				return "/apps/android/workspace/YASMIN_DATA/";
			#endif
		}

		/** get the directory where maps are stored */
		static inline std::string getMapDir() {
			return getRoot() + "maps/";
		}

		static inline std::string getOfflineDir() {
			return getRoot() + "offline/";
		}

		static inline std::string getRecordsDir() {
			return getRoot() + "records/";
		}

	}

}

#endif // SETTINGS_H