#ifndef NAV_MESH_MAIN_H
#define NAV_MESH_MAIN_H

#include "mesh.h"
#include "filter.h"
#include <memory>
#include <thread>
#include <Indoor/floorplan/v2/FloorplanReader.h>

void navMeshMain() {

	std::string mapFile = "/apps/paper/diss/data/maps/museum31.xml";

	Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(mapFile);

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

	const Point3 src(26, 43, 7.5);

	// 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
	NM::NavMeshDebug dbg;
	dbg.addMesh(mesh);
	//dbg.addDijkstra(mesh);
	dbg.draw();

	// particle-filter
	const int numParticles = 1000;
	auto init = std::make_unique<MyPFInitFixed>(&mesh, src);	// known position
	//auto init = std::make_unique<MyPFInitUniform>(&mesh);		// uniform distribution
	auto eval = std::make_unique<MyPFEval>();
	auto trans = std::make_unique<MyPFTrans>(mesh);
	auto resample = std::make_unique<K::ParticleFilterResamplingSimple<MyState>>();
	auto estimate = std::make_unique<K::ParticleFilterEstimationWeightedAverage<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(1);


	MyControl ctrl;
	MyObservation obs;

	//Distribution::Uniform<float> dHead(0, 2*M_PI);
	Distribution::Normal<float> dHead(0, 0.1);

	for (int i = 0; i < 10000; ++i) {

		ctrl.numStepsSinceLastEval = 1;
		ctrl.headingChangeSinceLastEval = dHead.draw();

		MyState est = pf.update(&ctrl, obs);

		ctrl.afterEval();

		try {
			MyNavMeshLocation loc = mesh.getLocationNearestTo(est.pos.pos);
			auto path = loc.tria->getPathToDestination<MyNavMeshTriangle>(loc.pos);
			dbg.addDijkstra(path);
		} catch (...) {;}

		const int d = (i * 1) % 360;
		dbg.plot.getView().setCamera(60, d);
		dbg.showParticles(pf.getParticles());
		dbg.setCurPos(est.pos.pos);

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

		std::cout << i << std::endl;

		dbg.draw();



		std::this_thread::sleep_for(std::chrono::milliseconds(5));

	}


}

#endif