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#include <gtest/gtest.h>
#include <math.h>
#include <memory>
#include "EKF/ekf.h"
#include "sensor_simulator/sensor_simulator.h"
#include "sensor_simulator/ekf_wrapper.h"
#include "sensor_simulator/ekf_logger.h"

class EkfReplayTest : public ::testing::Test {
 public:
	EkfReplayTest(): ::testing::Test(),
	_ekf{std::make_shared<Ekf>()},
	_sensor_simulator(_ekf),
	_ekf_wrapper(_ekf),
	_ekf_logger(_ekf) {};

	std::shared_ptr<Ekf> _ekf;
	SensorSimulator _sensor_simulator;
	EkfWrapper _ekf_wrapper;
	EkfLogger _ekf_logger;
};

TEST_F(EkfReplayTest, replaySensorData)
{
	_sensor_simulator.loadSensorDataFromFile("../../../test/replay_data/iris_gps.csv");
	_ekf_logger.setFilePath("../../../test/change_indication/iris_gps.csv");

	// Start simulation and enable fusion of additional sensor types here
	// By default the IMU, Baro and Mag sensor simulators are already running
	_sensor_simulator.startGps();
	_ekf_wrapper.enableGpsFusion();

	uint8_t logging_rate_hz = 10;
	for(int i = 0; i < 35 * logging_rate_hz; ++i)
	{
		_sensor_simulator.runReplaySeconds(1.0f / logging_rate_hz);
		_ekf_logger.writeStateToFile();
	}
}