#ifndef _POSITIONING_HH_
#define _POSITIONING_HH_

#include "point.hh"
#include "referencepoint.hh"
#include "accesspoint.hh"
#include "area.hh"
#include "measurement.hh"
#include "libowlps-positioning.hh"

class Positioning
{
private:
  vector<ReferencePoint> 	reference_point_list; // Liste des points de référence (calibration).
  float**			reference_point_matrix; // Matrice des distances entre les points de référence.
  vector<AccessPoint> 	access_point_list; // Liste des AP connus.
  vector<Point> 		waypoint_list; // Liste des points de passage entre les zones.
  float**			waypoint_matrix; // Matrice des distances entre les points de passage.
  map<string, Area> 	area_list ; // Liste des zones homogènes (pièces).

public :
  Positioning() {};
  ~Positioning() {};

  void makeReferencePointListFromFile(const string &filename, const bool);
  void makeApListFromFile(const string &filename);
  void makeTopologyFromFile(const string &filename);
  void makeWaypointListFromFile(const string &filename);

  void makeReferencePointListFromDb(PGconn*, const bool);
  void makeApListFromDb(PGconn*);
  void makeTopologyFromDb(PGconn*);
  void makeWaypointListFromDb(PGconn*);

  void makeWaypointMatrix(set<Point>);

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

  void makeReferencePointDistances();
  bool checkTopology();

  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 ;

  vector<AccessPoint> getAccessPointList() const
  {
    return access_point_list;
  };
  vector<ReferencePoint> getReferencePointList() const
  {
    return reference_point_list;
  };

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

#endif // _POSITIONING_HH_