/*!
 * \file galileo_e1_ls_pvt.h
 * \brief Interface of a Least Squares Position, Velocity, and Time (PVT)
 * solver, based on K.Borre's Matlab receiver.
 * \author Javier Arribas, 2011. jarribas(at)cttc.es
 *
 * -------------------------------------------------------------------------
 *
 * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
 *
 * GNSS-SDR is a software defined Global Navigation
 *          Satellite Systems receiver
 *
 * This file is part of GNSS-SDR.
 *
 * GNSS-SDR is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * GNSS-SDR is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
 *
 * -------------------------------------------------------------------------
 */

#ifndef GNSS_SDR_HYBRID_LS_PVT_H_
#define GNSS_SDR_HYBRID_LS_PVT_H_

#include <algorithm>
#include <cmath>
#include <cstdlib>
#include <cstdio>
#include <deque>
#include <fstream>
#include <iostream>
#include <map>
#include <memory>
#include <sstream>
#include <string>
#include <armadillo>
#include <boost/date_time/posix_time/posix_time.hpp>
#include "GPS_L1_CA.h"
#include "galileo_navigation_message.h"
#include "gps_navigation_message.h"
#include "gnss_synchro.h"
#include "galileo_ephemeris.h"
#include "galileo_utc_model.h"
#include "gps_ephemeris.h"
#include "gps_utc_model.h"

#define PVT_MAX_CHANNELS 24

/*!
 * \brief This class implements a simple PVT Least Squares solution
 */
class hybrid_ls_pvt
{
private:
    arma::vec leastSquarePos(arma::mat satpos, arma::vec obs, arma::mat w);
    arma::vec rotateSatellite(double traveltime, arma::vec X_sat);
    void topocent(double *Az, double *El, double *D, arma::vec x, arma::vec dx);
    void togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z);
    void tropo(double *ddr_m, double sinel, double hsta_km, double p_mb, double t_kel, double hum, double hp_km, double htkel_km, double hhum_km);
public:
    int d_nchannels;                                        //!< Number of available channels for positioning
    int d_valid_observations;                               //!< Number of valid pseudorange observations (valid satellites)
    int d_valid_GPS_obs;                                    //!< Number of valid GPS pseudorange observations (valid GPS satellites) -- used for hybrid configuration
    int d_valid_GAL_obs;                                    //!< Number of valid GALILEO pseudorange observations (valid GALILEO satellites) -- used for hybrid configuration
    int d_visible_satellites_IDs[PVT_MAX_CHANNELS];         //!< Array with the IDs of the valid satellites
    double d_visible_satellites_El[PVT_MAX_CHANNELS];       //!< Array with the LOS Elevation of the valid satellites
    double d_visible_satellites_Az[PVT_MAX_CHANNELS];       //!< Array with the LOS Azimuth of the valid satellites
    double d_visible_satellites_Distance[PVT_MAX_CHANNELS]; //!< Array with the LOS Distance of the valid satellites
    double d_visible_satellites_CN0_dB[PVT_MAX_CHANNELS];   //!< Array with the IDs of the valid satellites

    Galileo_Navigation_Message* d_Gal_ephemeris;
    Gps_Navigation_Message* d_GPS_ephemeris;

    std::map<int,Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris
    std::map<int,Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new Galileo_Ephemeris
    Galileo_Utc_Model galileo_utc_model;
    Galileo_Iono galileo_iono;
    Galileo_Almanac galileo_almanac;

    Gps_Utc_Model gps_utc_model;
    Gps_Iono gps_iono;

    double d_galileo_current_time;
    boost::posix_time::ptime d_position_UTC_time;
    bool b_valid_position;
    int count_valid_position;
    double d_latitude_d;  //!< Latitude in degrees
    double d_longitude_d; //!< Longitude in degrees
    double d_height_m;    //!< Height [m]
    //averaging
    std::deque<double> d_hist_latitude_d;
    std::deque<double> d_hist_longitude_d;
    std::deque<double> d_hist_height_m;
    int d_averaging_depth;    //!< Length of averaging window
    double d_avg_latitude_d;  //!< Averaged latitude in degrees
    double d_avg_longitude_d; //!< Averaged longitude in degrees
    double d_avg_height_m;    //!< Averaged height [m]

    double d_x_m;
    double d_y_m;
    double d_z_m;

    // DOP estimations
    arma::mat d_Q;
    double d_GDOP;
    double d_PDOP;
    double d_HDOP;
    double d_VDOP;
    double d_TDOP;

    bool d_flag_dump_enabled;
    bool d_flag_averaging;

    std::string d_dump_filename;
    std::ofstream d_dump_file;

    void set_averaging_depth(int depth);

    hybrid_ls_pvt(int nchannels,std::string dump_filename, bool flag_dump_to_file);

    ~hybrid_ls_pvt();

    bool get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, double hybrid_current_time, bool flag_averaging);

    /*!
     * \brief Conversion of Cartesian coordinates (X,Y,Z) to geographical
     * coordinates (d_latitude_d, d_longitude_d, d_height_m) on a selected reference ellipsoid.
     *
     * \param[in] X [m] Cartesian coordinate
     * \param[in] Y [m] Cartesian coordinate
     * \param[in] Z [m] Cartesian coordinate
     * \param[in] elipsoid_selection. Choices of Reference Ellipsoid for Geographical Coordinates:
     * 0 - International Ellipsoid 1924.
     * 1 - International Ellipsoid 1967.
     * 2 - World Geodetic System 1972.
     * 3 - Geodetic Reference System 1980.
     * 4 - World Geodetic System 1984.
     *
     */
    void cart2geo(double X, double Y, double Z, int elipsoid_selection);
};

#endif