#ifndef SETTINGS_H
#define SETTINGS_H

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

namespace Settings {

    bool useKLB = false;

    const int numParticles = 6000;
    const int numBSParticles = 50;

	namespace IMU {
        const float turnSigma = 2.5;		// 3.5
        const float stepLength = 1.00;
        const float stepSigma = 0.15; //toni changed
	}

	const float smartphoneAboveGround = 1.3;

	const float offlineSensorSpeedup = 2;

	namespace Grid {
		constexpr int gridSize_cm = 20;
	}

    namespace Smoothing {
        const bool activated = false;
        const double stepLength = 0.7;
        const double stepSigma = 0.2;
        const double headingSigma = 25.0;
        const double zChange = 0.0; // mu change in height between two time steps
        const double zSigma = 0.1;
        const int lag = 5;
    }


	//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 = 8.0;
		/** if the wifi-signal-strengths are stored on the grid-nodes, this needs a grid rebuild! */
        constexpr float TXP = -40;
        constexpr float EXP = 2.3;
        constexpr float WAF = 0.0;

        // 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::MAXIMUM, 1);
        const VAPGrouper vg_eval  = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::MAXIMUM, 1);
	}

    namespace BeaconModel {
        constexpr float sigma = 8.0;
        constexpr float TXP = -71;
        constexpr float EXP = 1.5;
        constexpr float WAF = -20.0; //-5 //20??
    }

	namespace MapView3D {
        const int maxColorPoints = 1000;
		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 Path_DongleTest {
        const std::vector<int> path1 = {0, 1, 2, 3, 4, 5, 6};
        const std::vector<int> path2 = {6, 5, 4, 7, 8, 9, 8, 10};
        const std::vector<int> path3 = {10, 8, 7, 4, 11, 12, 13, 14, 6};
    }

}

#endif // SETTINGS_H