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

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 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  = 3;     // 连续确认帧数
    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  = 30;    // 锥桶消失后保持变形的帧数

    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)
};
extern CfgCache g_cfg;

extern double target_speed;

#endif