#include "doa_algorithms.hpp"

#include <fstream>
#include <iomanip>
#include <iostream>
#include <string>

using namespace esp32_doa;

int main(int argc, char **argv) {
    if (argc < 3 || argc > 6) {
        std::cerr << "usage: doa_cli <srp|normmusic> <matrix.txt> [sample_rate] [nfft]\n"
                     "       doa_cli mvdr <matrix.txt> <angle> [sample_rate] [nfft]\n";
        return 2;
    }
    try {
        std::ifstream input(argv[2]);
        if (!input) throw std::runtime_error("cannot open input matrix");
        int samples = 0, channels = 0;
        input >> samples >> channels;
        Config config;
        config.channels = channels;
        const std::string command = argv[1];
        if (command == "mvdr") {
            if (argc < 4) throw std::runtime_error("mvdr requires an angle");
            if (argc >= 5) config.sample_rate = std::stoi(argv[4]);
            if (argc >= 6) config.nfft = std::stoi(argv[5]);
        } else {
            if (argc >= 4) config.sample_rate = std::stoi(argv[3]);
            if (argc >= 5) config.nfft = std::stoi(argv[4]);
        }
        config.hop = config.nfft / 2;
        std::vector<double> audio(static_cast<std::size_t>(samples) * channels);
        for (double &value : audio)
            if (!(input >> value)) throw std::runtime_error("matrix has too few values");
        std::cout << std::setprecision(17);
        if (command == "mvdr") {
            const auto result = beamform(audio, samples, config, std::stod(argv[3]));
            for (double value : result.audio) std::cout << value << '\n';
        } else {
            const auto result = estimate(audio, samples, config, command);
            std::cout << "{\"angle_degrees\":" << result.angle_degrees
                      << ",\"peak_sharpness\":" << result.peak_sharpness << "}\n";
        }
    } catch (const std::exception &error) {
        std::cerr << "error: " << error.what() << '\n';
        return 1;
    }
    return 0;
}