#ifndef GLOBAL_H
#define GLOBAL_H

#include <string>

// ── 参数文件名 ──
const std::string kp_file = "./kp";
const std::string ki_file = "./ki";
const std::string kd_file = "./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 foresee_lost_scale_file = "./foresee_lost_scale";
const std::string sharp_turn_scale_file = "./sharp_turn_scale";
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";
const std::string debug_file = "./debug";

const std::string cone_avoid_gain_file  = "./cone_avoid_gain";
const std::string cone_avoid_range_file = "./cone_avoid_range";
const std::string cone_speed_file       = "./cone_speed";
const std::string cone_min_frames_file  = "./cone_min_frames";
const std::string cone_margin_file      = "./cone_margin";
const std::string cone_thresh_file      = "./cone_thresh";
const std::string cone_hold_frames_file  = "./cone_hold_frames";
const std::string cone_return_gain_file  = "./cone_return_gain";
const std::string cone_return_frames_file = "./cone_return_frames";

const std::string brake_scale_file = "./brake_scale";
const std::string brake_max_file   = "./brake_max";

const std::string curve_slope_file = "./curve_slope";
const std::string curve_min_file   = "./curve_min";

const std::string lidar_thresh_file      = "./lidar_thresh";
const std::string lidar_pre_file         = "./lidar_pre";
const std::string lidar_near_file        = "./lidar_near";
const std::string lidar_far_file         = "./lidar_far";
const std::string lidar_near_start_file  = "./lidar_near_start";
const std::string lidar_near_end_file    = "./lidar_near_end";
const std::string lidar_far_span_file    = "./lidar_far_span";
const std::string lidar_min_frames_file  = "./lidar_min_frames";
const std::string lidar_avoid_gain_file  = "./lidar_avoid_gain";
const std::string lidar_avoid_range_file = "./lidar_avoid_range";
const std::string lidar_speed_file       = "./lidar_speed";
const std::string lidar_hold_frames_file = "./lidar_hold_frames";
const std::string lidar_enable_file      = "./lidar_enable";

double readDoubleFromFile(const std::string &filename);
bool   readFlag(const std::string &filename);
void   cfg_load_all();

// ── 启动时缓存的运行参数 ──
struct CfgCache {
    double speed       = 60;     // 目标速度(占空比 %)
    double foresee     = 80;     // 前瞻行
    double foresee_lost_scale = 0.7;  // 丢线时前瞻缩放 (<1=看更远)
    double sharp_turn_scale   = 0.5;  // 急弯时前瞻缩放 (<1=看更远)
    double zebrasee    = 60;     // 斑马线触发距离阈值
    double deadband    = 5;      // 舵机死区
    double steer_gain  = 1.0;    // 舵机增益
    double center_bias = 0;      // 中线偏移修正
    int    start       = 0;      // 1=启动 0=停止
    int    showImg     = 0;      // LCD 预览开关
    int    debug       = 0;      // debug 模式

    double cone_avoid_gain  = 0.3;   // 锥桶中线变形推离量 (归一化)
    int    cone_avoid_range = 30;    // 变形斜坡陡峭度
    double cone_speed       = 0.5;   // 锥桶触发时速度倍率
    int    cone_min_frames  = 1;     // 确认帧数 (1=单帧即确认, 视觉巡线响应快导致检测窗口极短)
    int    cone_margin      = 0;     // 0=中心点 1=框边缘
    double cone_thresh      = 0.80;  // 锥桶置信度阈值
    int    cone_hold_frames  = 15;    // 锥桶消失后保持变形的帧数
    double cone_return_gain  = 1.0;   // 回弹力度 (倍乘, 1.0=等同于避让力度)
    int    cone_return_frames = 30;    // 回弹持续帧数

    double brake_scale     = 10;    // 速度(pps) → 刹车占空比(ns) 缩放系数
    int    brake_max       = 10000; // 最大刹车占空比 (ns)

    double curve_slope     = 0.4;   // 弯道减速斜率 (越大越猛)
    double curve_min       = 0.8;   // 弯道最低速度倍率

    int    lidar_thresh      = 300;   // 激光障碍判定距离阈值 (mm), 必须<此值才触发
    int    lidar_pre         = 800;   // 预触发去抖窗口, <此值开始攒帧
    int    lidar_near        = 50;    // row=lt_h-1 对应的物理距离 (mm)
    int    lidar_far         = 1200;  // row=10 对应的物理距离 (mm)
    int    lidar_near_start  = 1;     // near_valid 检测起始偏移
    int    lidar_near_end    = 4;     // near_valid 检测终止偏移
    int    lidar_far_span    = 6;     // far_lost 检测跨度
    int    lidar_min_frames  = 3;     // 连续确认帧数
    double lidar_avoid_gain  = 0.4;   // 绕行中线推离力度 (归一化)
    int    lidar_avoid_range = 30;    // 绕行斜坡陡峭度 (行数)
    double lidar_speed       = 0.4;   // 绕行时速度倍率
    int    lidar_hold_frames = 30;    // 消失后变形保持帧数
    int    lidar_enable      = 1;     // 激光避障总开关
};
extern CfgCache g_cfg;

extern double target_speed;

#endif