#pragma once
#include "lidarlib/lidar.hpp"
#include <memory>
#include <string>
#include <vector>

namespace lidarlib {

// ─── Settings for one lidar ─────────────────────────────────────────────────
// `name` is the unique key used to match entries across saves (rename = old
// key removed, new key added) — useful if your GUI reconciles a running set of
// lidars against an edited config list.
struct LidarConfig {
    std::string name      = "lidar";
    std::string ip        = "0.0.0.0";
    uint16_t    port      = 2368;
    std::string model     = "AUTO";   // must match an entry in model_names_for_brand(brand)
    bool        inverted  = false;    // only applies to brand "OLEI" — SickDriver has no equivalent
    std::string brand     = "OLEI";   // must match an entry in brand_names() — "OLEI" or "SICK"

    friend bool operator==(const LidarConfig& a, const LidarConfig& b) {
        return a.name == b.name && a.ip == b.ip && a.port == b.port &&
               a.model == b.model && a.inverted == b.inverted && a.brand == b.brand;
    }
    friend bool operator!=(const LidarConfig& a, const LidarConfig& b) { return !(a == b); }
};

// Any number of lidars — managed as a list so a consuming app/GUI can
// add/remove entries freely instead of being locked to a fixed front/rear pair.
struct Config {
    std::vector<LidarConfig> lidars = {
        {"front", "0.0.0.0", 2368, "AUTO", false},
        {"rear",  "0.0.0.0", 2369, "AUTO", true},
    };
};

// Known model name -> ModelConfig (matches the constants in lidar.hpp/sick_lidar.hpp).
// Returns nullptr if name doesn't match any entry.
const ModelConfig* model_by_name(const std::string& name);

// Names accepted by model_by_name(), for populating a UI dropdown.
const std::vector<std::string>& model_names();

// Brand names accepted in LidarConfig::brand ("OLEI", "SICK"), for populating
// a UI dropdown.
const std::vector<std::string>& brand_names();

// Subset of model_names() valid for a given brand (e.g. "SICK" -> the
// MODEL_SICK_* names) — empty if `brand` doesn't match any entry in
// brand_names(). Used to filter the model dropdown once a brand is picked,
// and to validate that LidarConfig::model actually belongs to its brand.
const std::vector<std::string>& model_names_for_brand(const std::string& brand);

// Load config.json at `path`. If the file doesn't exist, returns defaults
// (and does NOT create the file — caller decides whether to save it).
Config load_config(const std::string& path);

// Overwrite `path` with `cfg` serialized as JSON.
void save_config(const std::string& path, const Config& cfg);

// ─── THE single config function ─────────────────────────────────────────────
// Build a ready-to-open lidar from one LidarConfig. This is the one entry point
// a GUI/app needs: `brand` selects the transport — exactly "SICK" → TCP, any
// other value (incl. "OLEI", empty, or an old config without the field) → OLEI
// UDP. `model` is resolved *for that brand*: a name that is unknown OR belongs
// to the other brand falls back to the brand's sensible default (MODEL_AUTO for
// OLEI, MODEL_SICK_TIM571 for SICK), so a mis-paired brand+model can't silently
// configure the wrong driver. `inverted` applies to OLEI only. Returns a unique
// handle to the unified Lidar interface — call ->open() then
// ->recv_scan(out, timeout_ms) to get ScanResult { LaserScan scan; ExtraInfo
// info; }. Never returns nullptr.
//
//   lidarlib::LidarConfig c{"front", "192.168.1.10", 2368, "AUTO", false, "OLEI"};
//   auto lidar = lidarlib::make_lidar(c);
//   lidar->open();
//   lidarlib::ScanResult r;
//   lidar->recv_scan(r, 1000);   // r.scan = LaserScan, r.info = ExtraInfo
std::unique_ptr<Lidar> make_lidar(const LidarConfig& cfg);

} // namespace lidarlib