#include "config.h"
#include "json_utils.h"

#include <iostream>
#include <fstream>
#include <sstream>

// ==================== 配置变量定义 ====================
std::string Leida_IP      = "192.168.0.170";
uint16_t    Leida_PORT    = 2368;
int         Collect_Duration_S = 6;
double      Speed_Z       = 20.0;
bool        Log_Flag      = true;
double      Z_RANGE_MM    = 50.0;
double      Y_RANGE_MM    = 80.0;
double      Lidar_Hz      = 50.0;
int         Rect_Width_PX = 8;
double      Rect_Length_Ratio = 1.5;
std::string Run_Mode      = "exe";
uint16_t    Tcp_Port      = 9601;
double      Floor_Height  = 1600.0;
double      Count_Base_Tolerance = 50.0;
double      Count_Additional_Tolerance_Per_Level = 20.0;
int         Point_Dilate  = 8;
std::string Z_Interpolate_Mode = "none";
int         Log_Retain_Days    = 15;
int         Tuo_Wei    = 2;
int         Qian_Chong = 2;
int         Yuan_Duan  = 1;
bool        Jin_Duan   = true;

std::vector<std::pair<double, double>> Filter_Polygon = {
    {-650, 0}, {-650, 670}, {650, 670}, {650, 0}
};
int Filter_Poly_N = (int)Filter_Polygon.size();

// ==================== 配置加载（JSON + // 注释行） ====================
void load_config(const std::string& path)
{
    std::ifstream fin(path);
    if (!fin.is_open()) {
        std::cerr << "[WARN] 未找到配置文件: " << path << std::endl;
        exit(-1);
    }

    // 1. 剔除行首(忽略空白)以 // 开头的注释行，其余拼接为 JSON 文本
    std::ostringstream json_oss;
    std::string line;
    while (std::getline(fin, line))
    {
        size_t b = line.find_first_not_of(" \t\r\n");
        if (b != std::string::npos && line.compare(b, 2, "//") == 0)
            continue;   // 整行注释
        json_oss << line << "\n";
    }
    fin.close();
    std::string text = json_oss.str();

    std::string s;   double d;   bool bv;   std::vector<std::pair<double, double>> poly;

    if (json_get_string(text, "Leida_IP", s))       Leida_IP = s;
    if (json_get_number(text, "Leida_Port", d))     Leida_PORT = (uint16_t)d;
    if (json_get_number(text, "Collect_Duration_S", d)) Collect_Duration_S = (int)d;
    if (json_get_number(text, "Speed_Z", d))        Speed_Z = d;
    if (json_get_bool(text, "Log_Flag", bv))        Log_Flag = bv;
    if (json_get_number(text, "Z_Range_MM", d))     Z_RANGE_MM = d;
    if (json_get_number(text, "Y_Range_MM", d))     Y_RANGE_MM = d;
    if (json_get_number(text, "Lidar_Hz", d))       Lidar_Hz = d;
    if (json_get_number(text, "Rect_Width_PX", d))  Rect_Width_PX = (int)d;
    if (json_get_number(text, "Rect_Length_Ratio", d)) Rect_Length_Ratio = d;
    if (json_get_string(text, "Run_Mode", s))       Run_Mode = s;
    if (json_get_number(text, "Tcp_Port", d))       Tcp_Port = (uint16_t)d;
    if (json_get_number(text, "Floor_Height", d))   Floor_Height = d;
    if (json_get_number(text, "Count_Base_Tolerance", d)) { Count_Base_Tolerance = d; if (Count_Base_Tolerance < 0) Count_Base_Tolerance = 0; }
    if (json_get_number(text, "Count_Additional_Tolerance_Per_Level", d)) { Count_Additional_Tolerance_Per_Level = d; if (Count_Additional_Tolerance_Per_Level < 0) Count_Additional_Tolerance_Per_Level = 0; }
    if (json_get_number(text, "Point_Dilate", d))   { Point_Dilate = (int)d; if (Point_Dilate < 1) Point_Dilate = 1; if (Point_Dilate > 64) Point_Dilate = 64; }
    if (json_get_string(text, "Z_Interpolate_Mode", s))
    {
        if (s == "CopyTranslation" || s == "AngleBucketInterpolation") Z_Interpolate_Mode = s;
        else Z_Interpolate_Mode = "none";
    }
    if (json_get_number(text, "Log_Retain_Days", d)) { Log_Retain_Days = (int)d; if (Log_Retain_Days < 1) Log_Retain_Days = 1; }
    if (json_get_number(text, "Tuo_Wei", d))        Tuo_Wei = (int)d;
    if (json_get_number(text, "Qian_Chong", d))     Qian_Chong = (int)d;
    if (json_get_number(text, "Yuan_Duan", d))      Yuan_Duan = (int)d;
    if (json_get_bool(text, "Jin_Duan", bv))        Jin_Duan = bv;
    if (json_get_point_array(text, "Filter_Polygon", poly) >= 3)
    {
        Filter_Polygon = poly;
        Filter_Poly_N = (int)poly.size();
    }

    std::cout << "========== 配置已加载 ==========" << std::endl;
    std::cout << "雷达: " << Leida_IP << ":" << Leida_PORT
              << "  帧率: " << Lidar_Hz << "Hz" << std::endl;
    std::cout << "扫描默认时长: " << Collect_Duration_S << "s"
              << "  Z速度: " << Speed_Z << "cm/s(0=时间)"
              << "  日志保留: " << Log_Retain_Days << "天" << std::endl;
    std::cout << "运行模式: " << Run_Mode << (Run_Mode == "tcp" ? " (端口 " + std::to_string(Tcp_Port) + ")" : "") << std::endl;
    std::cout << "分层冗余: 基准" << Count_Base_Tolerance
              << " + 每层" << Count_Additional_Tolerance_Per_Level
              << "  膨胀: " << Point_Dilate
              << "  插值模式: " << Z_Interpolate_Mode << std::endl;
    std::cout << "过滤多边形(" << Filter_Poly_N << "点):";
    for (const auto& p : Filter_Polygon)
        std::cout << " (" << p.first << "," << p.second << ")";
    std::cout << std::endl;
    std::cout << "================================" << std::endl;
}