#include "global.h"
#include <fstream>

CfgCache g_cfg;
double target_speed;

double readDoubleFromFile(const std::string &filename)
{
    std::ifstream file(filename);
    double value = 0.0;
    if (file.is_open()) { file >> value; file.close(); }
    return value;
}

bool readFlag(const std::string &filename)
{
    std::ifstream file(filename);
    int flag = 0;
    if (file.is_open()) { file >> flag; file.close(); }
    return flag;
}

void cfg_load_all()
{
    g_cfg.speed       = readDoubleFromFile(speed_file);
    g_cfg.foresee     = readDoubleFromFile(foresee_file);
    g_cfg.foresee_lost_scale = readDoubleFromFile(foresee_lost_scale_file);
    g_cfg.sharp_turn_scale   = readDoubleFromFile(sharp_turn_scale_file);
    g_cfg.zebrasee    = readDoubleFromFile(zebrasee_file);
    g_cfg.deadband    = readDoubleFromFile(deadband_file);
    g_cfg.steer_gain  = readDoubleFromFile(steer_gain_file);
    g_cfg.center_bias = readDoubleFromFile(center_bias_file);
    g_cfg.start       = readFlag(start_file);
    g_cfg.showImg     = readFlag(showImg_file);
    g_cfg.debug       = readFlag(debug_file);

    g_cfg.cone_speed      = readDoubleFromFile(cone_speed_file);
    g_cfg.cone_min_frames = (int)readDoubleFromFile(cone_min_frames_file);
    g_cfg.cone_margin     = (int)readDoubleFromFile(cone_margin_file);
    g_cfg.cone_thresh     = readDoubleFromFile(cone_thresh_file);
    g_cfg.cone_avoid_gain = readDoubleFromFile(cone_avoid_gain_file);
    g_cfg.cone_avoid_range = (int)readDoubleFromFile(cone_avoid_range_file);
    g_cfg.cone_hold_frames = (int)readDoubleFromFile(cone_hold_frames_file);
    g_cfg.cone_return_gain = readDoubleFromFile(cone_return_gain_file);
    g_cfg.cone_return_frames = (int)readDoubleFromFile(cone_return_frames_file);

    g_cfg.brake_scale = readDoubleFromFile(brake_scale_file);
    g_cfg.brake_max   = readDoubleFromFile(brake_max_file);

    g_cfg.curve_slope = readDoubleFromFile(curve_slope_file);
    g_cfg.curve_min   = readDoubleFromFile(curve_min_file);

    g_cfg.lidar_thresh      = (int)readDoubleFromFile(lidar_thresh_file);
    g_cfg.lidar_pre         = (int)readDoubleFromFile(lidar_pre_file);
    g_cfg.lidar_near        = (int)readDoubleFromFile(lidar_near_file);
    g_cfg.lidar_far         = (int)readDoubleFromFile(lidar_far_file);
    g_cfg.lidar_near_start  = (int)readDoubleFromFile(lidar_near_start_file);
    g_cfg.lidar_near_end    = (int)readDoubleFromFile(lidar_near_end_file);
    g_cfg.lidar_far_span    = (int)readDoubleFromFile(lidar_far_span_file);
    g_cfg.lidar_min_frames  = (int)readDoubleFromFile(lidar_min_frames_file);
    g_cfg.lidar_avoid_gain  = readDoubleFromFile(lidar_avoid_gain_file);
    g_cfg.lidar_avoid_range = (int)readDoubleFromFile(lidar_avoid_range_file);
    g_cfg.lidar_speed       = readDoubleFromFile(lidar_speed_file);
    g_cfg.lidar_hold_frames = (int)readDoubleFromFile(lidar_hold_frames_file);
    g_cfg.lidar_enable      = (int)readDoubleFromFile(lidar_enable_file);
}