#ifndef algo_loc_common_h
#define algo_loc_common_h

#include <unordered_map>
#include <deque>
#include "point.h"

/*
 * 基站id和基站坐标
 *
 * */
struct site_point: point
{
    unsigned int m_site_id;         //分站号

    site_point():point(0.0,0.0), m_site_id(0)
    {}

    site_point(const point& p):point(p), m_site_id(0)
    {}

    site_point& operator=(const point& rhs)
    {
        this->x = rhs.x;
        this->y = rhs.y;
        this->z = rhs.z;

        return *this;
    }
};

/*
 * 基站构成的三角形
 * */
struct triangle{
    std::vector<site_point> m_vertex;    //三角形三个顶点

    triangle()
    {
        m_vertex.clear();
        std::vector<site_point>().swap(m_vertex);
    }
    
    /*
     * 求点P到三角形质心的距离
     *
     * */
    double get_distance(const point& p)
    {
        if(m_vertex.size() < 3 || m_vertex.size() > 3){
            return 0.0;
        }

        // 中心点坐标
        point _cp;

        for(auto it = m_vertex.cbegin(); it != m_vertex.cend(); ++it)
        {
            _cp.x += (*it).x;
            _cp.y += (*it).y;
        }

        _cp.x /= 3;
        _cp.y /= 3;

        return sqrt((p.x - _cp.x)*(p.x - _cp.x) + (p.y - _cp.y)*(p.y - _cp.y));
    }
};

struct algo_solution{
    std::shared_ptr<point> m_pos;
    std::shared_ptr<triangle> m_triangle;

    algo_solution(): m_pos(nullptr), m_triangle(nullptr)
    {}
};

struct pdoa_data{
	int site_id;		// 分站号
	float distance;		// 距离
	float pdoa;			// pdoa值
	uint64_t loc_time;	// 定位时间戳（毫秒级）

	pdoa_data(): site_id(0), distance(0.0), pdoa(0.0), loc_time(0)
	{}

	pdoa_data operator=(const pdoa_data& pd)
	{
		this->site_id	= pd.site_id;
		this->distance	= pd.distance;
		this->pdoa		= pd.pdoa;
		this->loc_time	= pd.loc_time;

		return *this;
	}
};

// 数据队列定义
using msg_map = std::unordered_map<std::string, std::shared_ptr<loc_message>>; 

struct message_item{
    uint16_t m_card_stamp;  // 卡的ct号
    msg_map m_msg_map;

    message_item(): m_card_stamp(0)
    {}
};

using msg_deque = std::deque<message_item>;

const double EPS  = 0.00001;
const double SAFE = 3.0;

#endif