#ifndef __MONKEYCAR_BUS__
#define __MONKEYCAR_BUS__
#include <numeric>
#include "base_data.h"
#include "monkeycar_person.h"
#include "ProcessRemodule.h"
#include "cacti/kernel/Thread.h"
#include "cacti/kernel/Mutex.h"

#define K_MEANS_X1 0.5
#define K_MEANS_X2 1.8
#define K_MEANS_x3 3.0

#define ON_BUS_SPEED_LIMIT 0.95
#define ON_BUS_SPEED_MAX_LIMIT 2
#define OFF_BUS_SPEED_LIMIT 0.67

#define ADJUST_DISTANCE_TIMEVAL (5 * 60 * 1000)

#define PERSON_SEND_TIME_INTERVAL (2 * 1000) // 2s intervel
#define GROUPING_PERSON_DISTANCE 20   // 60/map_scale  now is 60m
#define GROUPING_PERSON_NUMBER   5
#define FIT_COUNT_LIMIT (ADJUST_DISTANCE_TIMEVAL/PERSON_SEND_TIME_INTERVAL)*6.0/10

//#define CHECK_TIME (ceil((60*1000)/LONG_TIME_NO_DATA))
#define LONG_TIME_NO_DATA (1*60*1000)  //1 min no data recv. 
enum DIRECTION{
	NO_DIRECTION = 0,
	POSTIVE_DIRECTION,
	NEGTIVE_DIRECTION
};

struct monkey_bus
{
	typedef cacti::RecursiveMutex::ScopedLock ScopedLock;
	monkey_bus(double speed, int direct);
	~monkey_bus()
	{
		m_stop = true;
		m_thread.join();
	}

	bool test_get_on(std::shared_ptr<monkey_person> mp,double speed);
	
	/*******************************
	/*Decide whether to get off or not
	/******************************/
	bool test_get_off(std::shared_ptr<monkey_person> mp,double speed);
	//get the average speed 
	void Set_AverageSpeed(double speed);
	//get off the bus 
	void getOffTheBus(std::shared_ptr<monkey_person> mp);
	//get on the bus
	void getOnTheBus(std::shared_ptr<monkey_person> mp,std::shared_ptr<monkey_bus> bus);
	//
	void updata_position();
	//k_means;

	//get step length
	inline double getNextStep_Distance(double time_val)
	{
		return m_speed * time_val;
	}
	//start the thread for adjust the gap
	void start();
	// grouping the person 

	
private:
	std::vector<std::shared_ptr<monkey_person>> person_list_;
	std::vector<double> m_AverageSpeed;
	double m_speed;
	int    m_direct;
	cacti::Thread m_thread;
	cacti::RecursiveMutex m_monitor;
	void adjust_monkeyperson_distance();
	u64 m_time_stamp;
	bool m_stop;
};
#endif