#ifndef GLOBAL_H
#define GLOBAL_H

#include <string>
#include <iostream>
#include <fstream>
#include <atomic>

const std::string kp_file = "./kp";
const std::string ki_file = "./ki";
const std::string kd_file = "./kd";

const std::string mortor_kp_file = "./mortor_kp";
const std::string mortor_ki_file = "./mortor_ki";
const std::string mortor_kd_file = "./mortor_kd";

const std::string start_file = "./start";
const std::string showImg_file = "./showImg";
const std::string destfps_file = "./destfps";
const std::string foresee_file = "./foresee";
const std::string zebrasee_file = "./zebrasee";
const std::string saveImg_file = "./saveImg";
const std::string speed_file = "./speed";
const std::string deadband_file = "./deadband";
const std::string steer_gain_file = "./steer_gain";
const std::string center_bias_file = "./center_bias";

// 从文件读取双精度值
double readDoubleFromFile(const std::string &filename);

// 从文件中读取标志
bool readFlag(const std::string &filename);

extern std::atomic<double> PID_rotate;

extern double target_speed;

#endif
