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#include "config.h"
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#include "json_utils.h"
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#include <iostream>
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#include <fstream>
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#include <sstream>
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// ==================== 配置变量定义 ====================
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std::string Leida_IP = "192.168.0.170";
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uint16_t Leida_PORT = 2368;
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int Collect_Duration_S = 6;
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double Speed_Z = 20.0;
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bool Log_Flag = true;
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double Z_RANGE_MM = 50.0;
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double Y_RANGE_MM = 80.0;
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double Lidar_Hz = 50.0;
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int Rect_Width_PX = 8;
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double Rect_Length_Ratio = 1.5;
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std::string Run_Mode = "exe";
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uint16_t Tcp_Port = 9601;
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double Floor_Height = 1600.0;
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double Count_Base_Tolerance = 50.0;
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double Count_Additional_Tolerance_Per_Level = 20.0;
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int Point_Dilate = 8;
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std::string Z_Interpolate_Mode = "none";
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int Log_Retain_Days = 15;
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int Tuo_Wei = 2;
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int Qian_Chong = 2;
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int Yuan_Duan = 1;
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bool Jin_Duan = true;
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std::vector<std::pair<double, double>> Filter_Polygon = {
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{-650, 0}, {-650, 670}, {650, 670}, {650, 0}
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};
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int Filter_Poly_N = (int)Filter_Polygon.size();
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// ==================== 配置加载（JSON + // 注释行） ====================
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void load_config(const std::string& path)
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{
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std::ifstream fin(path);
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if (!fin.is_open()) {
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std::cerr << "[WARN] 未找到配置文件: " << path << std::endl;
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exit(-1);
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}
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// 1. 剔除行首(忽略空白)以 // 开头的注释行，其余拼接为 JSON 文本
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std::ostringstream json_oss;
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std::string line;
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while (std::getline(fin, line))
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{
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size_t b = line.find_first_not_of(" \t\r\n");
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if (b != std::string::npos && line.compare(b, 2, "//") == 0)
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continue; // 整行注释
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json_oss << line << "\n";
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}
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fin.close();
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std::string text = json_oss.str();
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std::string s; double d; bool bv; std::vector<std::pair<double, double>> poly;
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if (json_get_string(text, "Leida_IP", s)) Leida_IP = s;
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if (json_get_number(text, "Leida_Port", d)) Leida_PORT = (uint16_t)d;
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if (json_get_number(text, "Collect_Duration_S", d)) Collect_Duration_S = (int)d;
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if (json_get_number(text, "Speed_Z", d)) Speed_Z = d;
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if (json_get_bool(text, "Log_Flag", bv)) Log_Flag = bv;
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if (json_get_number(text, "Z_Range_MM", d)) Z_RANGE_MM = d;
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if (json_get_number(text, "Y_Range_MM", d)) Y_RANGE_MM = d;
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if (json_get_number(text, "Lidar_Hz", d)) Lidar_Hz = d;
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if (json_get_number(text, "Rect_Width_PX", d)) Rect_Width_PX = (int)d;
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if (json_get_number(text, "Rect_Length_Ratio", d)) Rect_Length_Ratio = d;
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if (json_get_string(text, "Run_Mode", s)) Run_Mode = s;
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if (json_get_number(text, "Tcp_Port", d)) Tcp_Port = (uint16_t)d;
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if (json_get_number(text, "Floor_Height", d)) Floor_Height = d;
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if (json_get_number(text, "Count_Base_Tolerance", d)) { Count_Base_Tolerance = d; if (Count_Base_Tolerance < 0) Count_Base_Tolerance = 0; }
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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; }
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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; }
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if (json_get_string(text, "Z_Interpolate_Mode", s))
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{
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if (s == "CopyTranslation" || s == "AngleBucketInterpolation") Z_Interpolate_Mode = s;
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else Z_Interpolate_Mode = "none";
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}
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if (json_get_number(text, "Log_Retain_Days", d)) { Log_Retain_Days = (int)d; if (Log_Retain_Days < 1) Log_Retain_Days = 1; }
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if (json_get_number(text, "Tuo_Wei", d)) Tuo_Wei = (int)d;
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if (json_get_number(text, "Qian_Chong", d)) Qian_Chong = (int)d;
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if (json_get_number(text, "Yuan_Duan", d)) Yuan_Duan = (int)d;
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if (json_get_bool(text, "Jin_Duan", bv)) Jin_Duan = bv;
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if (json_get_point_array(text, "Filter_Polygon", poly) >= 3)
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{
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Filter_Polygon = poly;
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Filter_Poly_N = (int)poly.size();
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}
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std::cout << "========== 配置已加载 ==========" << std::endl;
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std::cout << "雷达: " << Leida_IP << ":" << Leida_PORT
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<< " 帧率: " << Lidar_Hz << "Hz" << std::endl;
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std::cout << "扫描默认时长: " << Collect_Duration_S << "s"
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<< " Z速度: " << Speed_Z << "cm/s(0=时间)"
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<< " 日志保留: " << Log_Retain_Days << "天" << std::endl;
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std::cout << "运行模式: " << Run_Mode << (Run_Mode == "tcp" ? " (端口 " + std::to_string(Tcp_Port) + ")" : "") << std::endl;
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std::cout << "分层冗余: 基准" << Count_Base_Tolerance
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<< " + 每层" << Count_Additional_Tolerance_Per_Level
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<< " 膨胀: " << Point_Dilate
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<< " 插值模式: " << Z_Interpolate_Mode << std::endl;
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std::cout << "过滤多边形(" << Filter_Poly_N << "点):";
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for (const auto& p : Filter_Polygon)
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std::cout << " (" << p.first << "," << p.second << ")";
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std::cout << std::endl;
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std::cout << "================================" << std::endl;
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}
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