#include "main.h"

#include "navMesh/mesh.h"
#include "navMesh/filter.h"
#include "Settings.h"
#include "navMesh/meshPlotter.h"
#include "Plotty.h"

#include <memory>
#include <thread>

#include <Indoor/floorplan/v2/FloorplanReader.h>
#include <Indoor/sensors/radio/model/WiFiModelLogDistCeiling.h>
#include <Indoor/sensors/offline/FileReader.h>
#include <Indoor/geo/Heading.h>
#include <Indoor/geo/Point2.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/data/Timestamp.h>
#include <Indoor/sensors/radio/setup/WiFiOptimizerLogDistCeiling.h>
#include <Indoor/math/stats/Statistics.h>

#include <Indoor/smc/filtering/resampling/ParticleFilterResamplingSimpleImpoverishment.h>

#include <sys/stat.h>

Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std::string folder) {

    // reading file
    Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(setup.map);
    Offline::FileReader fr(setup.training[numFile]);
    WiFiFingerprints fingerprints(setup.fingerprints);
    std::ifstream inp(setup.wifiModel, std::ifstream::binary);

    //ground truth
    std::vector<int> gtPath;
    for(int i = 0; i < setup.numGTPoints; ++i){gtPath.push_back(i);}
    Interpolator<uint64_t, Point3> gtInterpolator = fr.getGroundTruthPath(map, gtPath);
    Stats::Statistics<float> errorStats;

    //error file
    const long int t = static_cast<long int>(time(NULL));
    const std::string evalDir = Settings::errorDir + folder;
    struct stat statStruct;
    stat(evalDir.c_str(), &statStruct);
    if(!S_ISDIR(statStruct.st_mode)){
        if(mkdir(evalDir.c_str(), S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH) == -1){
            Assert::doThrow("Eval folder couldn't be created!");
        }
    }
    std::ofstream errorFile;
    errorFile.open (evalDir + "/" + std::to_string(numFile) + "_" + std::to_string(t) + ".csv");


    // wifi
    WiFiModelLogDistCeiling WiFiModel(map);

    // with optimization
    if(Settings::WiFiModel::optimize){

        if (!inp.good() || (inp.peek()&&0) || inp.eof()) {
            Assert::isFalse(fingerprints.getFingerprints().empty(), "no fingerprints available!");
            WiFiOptimizer::LogDistCeiling opt(map, Settings::WiFiModel::vg_calib);
            for (const WiFiFingerprint& fp : fingerprints.getFingerprints()) {
                opt.addFingerprint(fp);
            }
            const WiFiOptimizer::LogDistCeiling::APParamsList res = opt.optimizeAll(opt.NONE);
            for (const WiFiOptimizer::LogDistCeiling::APParamsMAC& ap : res.get()) {
                const WiFiModelLogDistCeiling::APEntry entry(ap.params.getPos(), ap.params.txp, ap.params.exp, ap.params.waf);
                WiFiModel.addAP(ap.mac, entry);
            }

            WiFiModel.saveXML(setup.wifiModel);
        } else {
            WiFiModel.loadXML(setup.wifiModel);
        }

    } else {
        // without optimization
        WiFiModel.loadAPs(map, Settings::WiFiModel::TXP, Settings::WiFiModel::EXP, Settings::WiFiModel::WAF);
        Assert::isFalse(WiFiModel.getAllAPs().empty(), "no AccessPoints stored within the map.xml");
    }



    // mesh
    NM::NavMeshSettings set;
    MyNavMesh mesh;
    MyNavMeshFactory fac(&mesh, set);
    fac.build(map);

    const Point3 srcPath0(26, 43, 7.5);
    const Point3 srcPath1(62, 38, 1.7);
    const Point3 srcPath2(62, 38, 1.8);
    const Point3 srcPath3(62, 38, 1.8);

    // add shortest-path to destination
    //const Point3 dst(51, 45, 1.7);
    //const Point3 dst(25, 45, 0);
    //NM::NavMeshDijkstra::stamp<MyNavMeshTriangle>(mesh, dst);

    // debug show
    //MeshPlotter dbg;
    //dbg.addFloors(map);
    //dbg.addOutline(map);
    //dbg.addMesh(mesh);
    //dbg.addDijkstra(mesh);
    //dbg.draw();

    Plotty plot(map);
    plot.buildFloorplan();
    plot.setGroundTruth(gtPath);

    // particle-filter
    const int numParticles = 5000;
    //auto init = std::make_unique<MyPFInitFixed>(&mesh, srcPath1);	// known position
    auto init = std::make_unique<MyPFInitUniform>(&mesh);		// uniform distribution
    auto eval = std::make_unique<MyPFEval>(WiFiModel);
    auto trans = std::make_unique<MyPFTrans>(mesh, WiFiModel);

    //auto resample = std::make_unique<SMC::ParticleFilterResamplingSimple<MyState>>();
    //auto resample = std::make_unique<SMC::ParticleFilterResamplingSimpleImpoverishment<MyState, MyNavMeshTriangle>>();
    auto resample = std::make_unique<SMC::ParticleFilterResamplingKLD<MyState>>();

    auto estimate = std::make_unique<SMC::ParticleFilterEstimationBoxKDE<MyState>>(map, 0.2, Point2(1,1));
    //auto estimate = std::make_unique<SMC::ParticleFilterEstimationWeightedAverage<MyState>>();
    //auto estimate = std::make_unique<SMC::ParticleFilterEstimationMax<MyState>>();

    // setup
    MyFilter pf(numParticles, std::move(init));
    pf.setEvaluation(std::move(eval));
    pf.setTransition(std::move(trans));
    pf.setResampling(std::move(resample));
    pf.setEstimation(std::move(estimate));
    pf.setNEffThreshold(0.85);

    // sensors
    MyControl ctrl;
    MyObservation obs;

    StepDetection sd;
    PoseDetection pd;
    TurnDetection td(&pd);
    RelativePressure relBaro;
    ActivityDetector act;
    relBaro.setCalibrationTimeframe( Timestamp::fromMS(5000) );
    Timestamp lastTimestamp = Timestamp::fromMS(0);

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

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

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

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

            //simpleActivity walking / standing
            act.add(ts, fr.getAccelerometer()[e.idx].data);

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

            ctrl.headingChangeSinceLastEval += delta_gyro;

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

            //simpleActivity stairs up / down
            act.add(ts, fr.getBarometer()[e.idx].data);
            obs.activity = act.get();
        }

        if (ctrl.numStepsSinceLastEval > 0) {

            obs.currentTime = ts;
            ctrl.currentTime = ts;

//            if(ctrl.numStepsSinceLastEval > 0){
//                pf.updateTransitionOnly(&ctrl);
//            }
            MyState est = pf.update(&ctrl, obs); //pf.updateEvaluationOnly(obs);
            ctrl.afterEval();
            Point3 gtPos = gtInterpolator.get(static_cast<uint64_t>(ts.ms())) + Point3(0,0,0.1);
            lastTimestamp = ts;

            ctrl.lastEstimate = est.pos.pos;

            //plot
            //dbg.showParticles(pf.getParticles());
            //dbg.setCurPos(est.pos.pos);
            //dbg.setGT(gtPos);
            //dbg.addEstimationNode(est.pos.pos);
            //dbg.addGroundTruthNode(gtPos);
            //dbg.setTimeInMinute(static_cast<int>(ts.sec()) / 60, static_cast<int>(static_cast<int>(ts.sec())%60));
            //dbg.draw();

            plot.showParticles(pf.getParticles());
            plot.setCurEst(est.pos.pos);
            plot.setGroundTruth(gtPos);
            plot.addEstimationNode(est.pos.pos);
            plot.setActivity((int) act.get());
            //plot.plot();

            // error calc
            float err_m = gtPos.getDistance(est.pos.pos);
            errorStats.add(err_m);
            errorFile << ts.ms() << " " << err_m << "\n";

            //dbg.gp.setOutput("/tmp/123/" + std::to_string(i) + ".png");
            //dbg.gp.setTerminal("pngcairo", K::GnuplotSize(60, 30));
        }
    }



    // get someting on console
    std::cout << "Statistical Analysis Filtering: " << std::endl;
    std::cout << "Median: " << errorStats.getMedian() << " Average: " << errorStats.getAvg() << " Std: " << errorStats.getStdDev() << std::endl;

    // save the statistical data in file
    errorFile << "========================================================== \n";
    errorFile << "Average of all statistical data: \n";
    errorFile << "Median: " << errorStats.getMedian() << "\n";
    errorFile << "Average: " << errorStats.getAvg() << "\n";
    errorFile << "Standard Deviation: " << errorStats.getStdDev() << "\n";
    errorFile << "75 Quantil: " << errorStats.getQuantile(0.75) << "\n";
    errorFile.close();

    /* plot in gp file */
    std::ofstream plotFile;
    plotFile.open(evalDir + "/" + std::to_string(numFile) + "_" + std::to_string(t) + ".gp");
    plot.saveToFile(plotFile);
    plotFile.close();

    //save also a png image, just for a better overview
    plot.printOverview(evalDir + "/" + std::to_string(numFile) + "_" + std::to_string(t));
    plot.plot();

    return errorStats;
}

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

    Stats::Statistics<float> statsAVG;
    Stats::Statistics<float> statsMedian;
    Stats::Statistics<float> statsSTD;
    Stats::Statistics<float> statsQuantil;
    Stats::Statistics<float> tmp;

    std::string evaluationName = "museum/Path3_Museum_KLD_SimpleDistance";

    for(int i = 0; i < 100; ++i){

        //TODO: in transition die distance über KLD noch einkommentieren als Test

//        for(int j = 0; j < Settings::data.Path0.training.size(); ++j){
//            tmp = run(Settings::data.Path0, j, evaluationName);
//            statsMedian.add(tmp.getMedian());
//            statsAVG.add(tmp.getAvg());
//            statsSTD.add(tmp.getStdDev());
//            statsQuantil.add(tmp.getQuantile(0.75));
//        }

//        for(int j = 0; j < Settings::data.Path1.training.size(); ++j){
//            tmp = run(Settings::data.Path1, j, evaluationName);
//            statsMedian.add(tmp.getMedian());
//            statsAVG.add(tmp.getAvg());
//            statsSTD.add(tmp.getStdDev());
//            statsQuantil.add(tmp.getQuantile(0.75));
//        }

//        for(int j = 0; j < Settings::data.Path2.training.size(); ++j){
//            tmp = run(Settings::data.Path2, j, evaluationName);
//            statsMedian.add(tmp.getMedian());
//            statsAVG.add(tmp.getAvg());
//            statsSTD.add(tmp.getStdDev());
//            statsQuantil.add(tmp.getQuantile(0.75));
//        }

        for(int j = 0; j < Settings::data.Path3.training.size(); ++j){
            tmp = run(Settings::data.Path3, j, evaluationName);
            statsMedian.add(tmp.getMedian());
            statsAVG.add(tmp.getAvg());
            statsSTD.add(tmp.getStdDev());
            statsQuantil.add(tmp.getQuantile(0.75));
        }

        std::cout << "Iteration " << i << " completed" << std::endl;;
    }

    std::cout << "==========================================================" << std::endl;
    std::cout << "Average of all statistical data: " << std::endl;
    std::cout << "Median: " << statsMedian.getAvg() << std::endl;
    std::cout << "Average: " << statsAVG.getAvg() << std::endl;
    std::cout << "Standard Deviation: " << statsSTD.getAvg() << std::endl;
    std::cout << "75 Quantil: " << statsQuantil.getAvg() << std::endl;
    std::cout << "==========================================================" << std::endl;

    //EDIT THIS EDIT THIS EDIT THIS EDIT THIS EDIT THIS EDIT THIS EDIT THIS EDIT THIS
    std::ofstream finalStatisticFile;
    finalStatisticFile.open (Settings::errorDir + evaluationName + ".csv", std::ios_base::app);

    finalStatisticFile << "========================================================== \n";
    finalStatisticFile << "Average of all statistical data: \n";
    finalStatisticFile << "Median: " << statsMedian.getAvg() << "\n";
    finalStatisticFile << "Average: " << statsAVG.getAvg() << "\n";
    finalStatisticFile << "Standard Deviation: " << statsSTD.getAvg() << "\n";
    finalStatisticFile << "75 Quantil: " << statsQuantil.getAvg() << "\n";
    finalStatisticFile << "========================================================== \n";

    finalStatisticFile.close();

    //std::this_thread::sleep_for(std::chrono::seconds(60));

}