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

namespace lidarlib {

// Settings for one lidar. `name` is the unique key across saves.
struct LidarConfig {
    std::string name      = "lidar";
    std::string ip        = "0.0.0.0";
    uint16_t    port      = 2368;
    std::string model     = "AUTO";
    bool        inverted  = false;    // unit mounted upside-down → mirror the scan
    std::string brand     = "OLEI";   // "OLEI", "SICK" or "ESPE"
    bool        use_udp   = false;    // ESPE only: UDP instead of TCP transport

    // Output angle window (deg): scan angles are remapped onto
    // [angle_min_deg, angle_max_deg] without dropping points.
    // Defaults (±360) = off.
    float angle_min_deg = -360.f;
    float angle_max_deg =  360.f;

    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 &&
               a.use_udp == b.use_udp &&
               a.angle_min_deg == b.angle_min_deg && a.angle_max_deg == b.angle_max_deg;
    }
    friend bool operator!=(const LidarConfig& a, const LidarConfig& b) { return !(a == b); }
};

struct Config {
    std::vector<LidarConfig> lidars = {
        {"front", "0.0.0.0", 2368, "AUTO", false},
        {"rear",  "0.0.0.0", 2369, "AUTO", true},
    };
};

// nullptr if `name` doesn't match any known model.
const ModelConfig* model_by_name(const std::string& name);

const std::vector<std::string>& model_names();

const std::vector<std::string>& brand_names();

// Subset of model_names() valid for `brand`; empty if unknown.
const std::vector<std::string>& model_names_for_brand(const std::string& brand);

// Returns defaults if the file doesn't exist (without creating it).
Config load_config(const std::string& path);

void save_config(const std::string& path, const Config& cfg);

// Build a ready-to-open lidar from one LidarConfig — the only entry point an
// app needs. brand "SICK" → SICK driver (model "SICK-nanoScan3" → UDP
// NanoScanDriver, others → TCP SickDriver); brand "ESPE" → TCP EspeDriver;
// anything else → OLEI UDP.
// Unknown/cross-brand model falls back to the brand default. Never nullptr.
std::unique_ptr<Lidar> make_lidar(const LidarConfig& cfg);

} // namespace lidarlib