#ifndef _SERVER_HH_
#define _SERVER_HH_

#include <iostream>
#include <vector>
#include <map>
#include <set>
#include <string>
#include <fstream>
#include <sstream>
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <cstring>
#include <cmath>
#include <cstdio>

#include "guinumo.hh"
#include "clientinfo.hh"
#include "referencepoint.hh"
#include "accesspoint.hh"
#include "point.hh"
#include "measurement.hh"
#include "area.hh"

using namespace std;

typedef ClientInfo::float_array float_array ;
typedef ClientInfo::float_index float_index ;


#define DEFAULT_LOGFILE "log/radar_exp.csv" // Fichier de sortie
#define DEFAULT_REF_POINT_FILE "csv/agreg/1m/toutes.csv" // Fichier des points de référence
#define DEFAULT_AP_FILE "cfg/minipc.cfg" // Fichier de configuration des AP
#define DEFAULT_TRACKING_FILE "csv/agreg/divagation/divagation9.csv" // Fichier de prérégrination
#define DEFAULT_TOPOLOGY_FILE "cfg/topo.csv"
#define DEFAULT_WAYPOINT_FILE "cfg/waypoints.csv"
#define DEFAULT_IP "127.0.0.1"
#define DEFAULT_LISTEN_PORT 7777
#define LIGHT_SPEED 300000000
#define MINMAX_STEP 0.5
#define MINMAX_Z_STEP 3
#define MINMAX_X_START -1
#define MINMAX_Y_START -1
#define MINMAX_Z_START 0
#define MINMAX_X_STOP 15
#define MINMAX_Y_STOP 45
#define MINMAX_Z_STOP 3
#define BUFFER_LENGTH 5000
//#define DEFAULT_Z 3 // Décommenter pour utiliser des fichiers d'entrée avec des coordonnées dans un seul plan (X, Y).
//#define FRED_CSV_FORMAT // Décommenter pour utiliser les fichiers CSV au « format Fred » (plusieurs lignes par mesure, avec un AP par ligne).

typedef enum { ALGO_VLI = 1, ALGO_BASIC_FRBHM, ALGO_CONTINU_FRBHM } ALGORITHM ;


class Server
{
public :
  typedef boost::multi_array<float, 2> float_array ; // On utilise boost::multi_array pour les matrices de distances temporaires.
  typedef float_array::index float_index ;

protected:
  vector<ClientInfo> client_list ; // Liste des clients connus.
  map<string, Area> area_list ; // Liste des zones homogènes (pièces).
  vector<ReferencePoint> reference_point_list ; // Liste des points de référence (calibration).
  vector<AccessPoint> access_point_list ; // Liste des AP connus.
  float **reference_point_matrix ; // Matrice des distances entre les points de référence.
  vector<Point> waypoint_list ; // Liste des points de passage entre les zones.
  float **waypoint_matrix ; // Matrice des distances entre les points de passage.
  struct sockaddr_in server_addr;
  int sockListen;
  int sockSend;

public:
  Server(const string &ip_addr = DEFAULT_IP, const int &listen_port = DEFAULT_LISTEN_PORT);
  ~Server();

  void send_to_client(const int &cl);
  int receive_data();

  ClientInfo& createClient() ;

  map<string, Area> inWhichAreas(const Point &p) ;
  bool inTheSameArea(const Point &p1, const Point &p2) ;
  vector<Point> areaConnection(const Area &z1, const Area &z2) ;
  vector<Point> areaConnection(const Area &z) ;
  float distanceTopology(const Point &p1, const Point &p2) ;

  bool pointExists(const float &x, const float &y, const float &z)const;
  bool pointExists(const Point &p)const;
  bool pointExists(const vector<ReferencePoint> &point_list, const float &x, const float &y, const float &z) const ;
  bool pointExists(const vector<ReferencePoint> &point_list, const Point &p) const ;

  int pointIndex(const float &x, const float &y, const float &z) const;
  int pointIndex(const Point &p) const;
  int pointIndex(const vector<ReferencePoint> &point_list, const float &x, const float &y, const float &z) const ;
  int pointIndex(const vector<ReferencePoint> &point_list, const Point &p) const ;
  int pointIndex(const Point *tab, unsigned int &size, const Point &p) const ;
  int pointIndex(const vector<Point> &point_list, const Point &p) const ;

  bool apExists(const string &ap_addr)const;
  unsigned int apIndex(const string &ap_addr)const;

  vector<Point> getkClosestInSs(const vector<Measurement> &m, const unsigned int &k)const ;
  vector<Point> getkClosestInSs(const vector<Measurement> &m, const unsigned int &k, const Point *point_ignored)const ;

  Point getkWeightedInSs(const vector<Measurement> &m, const unsigned int &k)const ;
  Point getkWeightedInSs(const vector<Measurement> &m, const unsigned int &k, const Point *point_ignored)const ;

  Point kPointsAverage(const vector<Point> &vp)const;
  Point fbcm(const vector<Measurement> &m, const int &client_idx)const;
  Point fbcm_friis( const vector<Measurement> &m, const vector<float> friis_idx_list, const float &z)const;
  Point interlink(const vector<Measurement> &m, const int &client_idx)const;

  void makeReferencePointListFromFile(const string &filename);
  void makePointListFromFile(vector<ReferencePoint> &dest_point_list, const string &filename) ;
  void makePointListFromFile(vector<ReferencePoint> &dest_point_list, const string &filename, const bool uniq_point) ;
  void makeApListFromFile(const string &filename);
  void makeTopologyFromFile(const string &filename) ;
  void makeWaypointListFromFile(const string &filename) ;
  void makeReferencePointDistances() ;

  bool checkTopology() ;

  void selectDistances(float_array *matrix, const vector<Point> &l1, const vector<Point> &l2) const ;
  void computeEuclideanDistances(float_array *matrix, const vector<Point> &l1, const vector<Point> &l2) const ;
  void computeTopologyDistances(float_array *matrix, const vector<Point> &l1, const vector<Point> &l2) ;

  void printReferencePointList() ;
  void printPointList(vector<ReferencePoint> &point_list) ;
  void printAccessPointList() const ;

  void computeFriisFromRefList();
  vector<float> computeFriisFromRefList(const Point &p, const vector<Measurement> &m);

  unsigned int getNbReferencePoints()const { return reference_point_list.size(); };

  void monitorClient(const unsigned int &client_id, const ALGORITHM &algo) ;
  Point fastViterbiLike(const unsigned int &id_client, const float_array &distance_matrix) ;

  /* For experimentation purpose only ! */
  void radar_exp();
};

#endif // _SERVER_HH_