#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 site
{
	std::vector<ant*> m_ant_list;
};

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;
};

struct loc_tool
{
	virtual std::vector<point> calc_location(const std::vector<loc_message>&locm)=0;
	virtual int index()
	{
		return -1;
	}
	virtual ~loc_tool(){}
};

struct loc_tool_tdoa_3_base:loc_tool
{
	virtual std::vector<point> calc_location(const std::vector<loc_message>&locm);
	virtual int index();
};

struct loc_tool_tdoa_2_base:loc_tool
{
	virtual std::vector<point> calc_location(const std::vector<loc_message>&locm);
	virtual int index();
};

struct loc_tool_tdoa_1_base:loc_tool
{
	virtual std::vector<point> calc_location(const std::vector<loc_message>&locm);
	virtual int index();
};

struct loc_tool_tof_3_base:loc_tool
{
	virtual std::vector<point> calc_location(const std::vector<loc_message>&locm);
	virtual int index();
};

struct loc_tool_tof_2_base:loc_tool
{
	virtual std::vector<point> calc_location(const std::vector<loc_message>&locm);
	virtual int index();
};

struct loc_tool_tof_1_base:loc_tool
{
	virtual std::vector<point> calc_location(const std::vector<loc_message>&locm);
	virtual int index();
};

struct loc_tool_main:loc_tool
{
	static loc_tool* g_tool[6];
	loc_tool_main();
	~loc_tool_main();
	static void set_tool(loc_tool*tool);
	std::vector<point> calc_location(const std::vector<loc_message>&locm);
};

#endif