#ifndef _ANT_LIST_HPP_
#define _ANT_LIST_HPP_

#include <math.h>
#include <array>
#include <deque>
#include <tuple>
#include <memory>
#include <algorithm>
#include "line.h"
#include "point.h"

struct path
{
	line_v	m_line; 
	double  m_slope=0;
};

struct algo_config
{
	const char*desc;
	int min_msg_cnt;
	int best_msg_cnt;
	int min_wait_time;
	int max_wait_time;
};

struct ant
{
	static algo_config g_config[];
	int      m_site_id;
	int      m_algo;			//TOF:0,TDOA:1
	int      m_num_dims;	    //1维:0,2维:1,3维:2
	point    m_position;
	std::vector<path> m_path;

	int index()const;
	const algo_config&config()const;
};

struct ant_list
{
	std::vector<ant*> m_ant_list;
	ant*get(uint32_t site_id,uint32_t ant_id)
	{
		return 0;
	}

	void load_from_db()
	{
	
	}

	static ant_list*instance();
};

struct client;
struct site
{
	std::vector<ant*> m_ant_list;
	std::shared_ptr<client> m_socket;
};

struct site_list
{
	std::vector<site*> m_site_list;

	site*get(uint32_t site_id)
	{
		return 0;
	}

	void load_from_db()
	{
	
	}

	static site_list*instance();
};

struct loc_message
{
	ant*     m_ant;
	uint64_t m_num_ticks; //tof时间片或tdoa相对root时间

	loc_message();
	loc_message(ant*a,uint64_t num_ticks)
		:m_ant(a)
		 ,m_num_ticks(num_ticks)
	{}
	int tool_index()const;
};

#endif