fwt_software/include/fgc/Config.h

#pragma once

#include "fgc/Geometry.h"

#include <map>
#include <string>
#include <utility>
#include <vector>

namespace fgc {

// Typed application configuration. Replaces the ad-hoc std::map<string,string>
// lookups that were scattered through main.cpp.

struct GeneralConfig {
    std::string tower_name = "Unnamed";
    int         image_interval = 5;   // seconds between captures
    bool        debug = false;        // print motor telemetry each loop tick
};

struct NetworkConfig {
    std::string broker_ip = "127.0.0.1";  // MQTT broker host/IP, or a full tcp://... URI
    int         mqtt_port = 1883;          // ignored when broker_ip carries its own port
    std::string mqtt_user;                 // see secrets note below
    std::string mqtt_pw;

    // Paho serverURI for broker_ip + mqtt_port, e.g. "tcp://10.0.0.5:1883".
    //
    // Built here rather than handing Paho a bare address and relying on its
    // default port, so the port is explicit, configurable and visible in the log.
    // Two precedence rules, both to keep existing configs working:
    //   - broker_ip containing "://" is a URI the operator owns: returned verbatim,
    //     mqtt_port ignored (it may already have a port, or a ws:// path to break).
    //   - broker_ip already carrying "host:port" keeps that port; mqtt_port ignored.
    // A bare IPv6 address is bracketed, or Paho's rightmost-colon parse would read
    // the last hextet as the port.
    std::string brokerUri() const;
};

struct SerialConfig {
    std::string  device = "/dev/ttyACM0";
    unsigned int baud   = 115200;
};

// Per-profile program behaviour, from [Camera.<name>.<profile>]. These are not
// camera settings - the camera's own settings live entirely in the profile XML -
// but timing the program must observe around them.
struct CameraProfileTiming {
    int settle_wait_ms   = 1000;   // hold after standstill before keeping a frame
    int frame_timeout_ms = 2000;   // give up on the waypoint after this
};

// One camera, from a [Camera.<name>] block. Nothing is implied by position: the
// block names the camera, `label` names its output, `driver` picks the backend.
struct CameraSpec {
    std::string name;                    // the block suffix, e.g. "rgb"
    bool        enabled = true;
    std::string driver  = "vimba";       // only "vimba" is implemented
    std::string id;                      // USB DEV_ id or GigE IP
    std::string label;                   // output subdir + CamEvent "cam"; defaults to name
    std::string profile_dir;             // relative => resolved next to config.ini
    std::string profile = "standard";    // which profile to start in
    int         rotation_deg = 0;        // clockwise; 0/90/180/270

    // Encoding, defaulted from [Camera] and overridable per camera.
    double jxl_distance = 0.8;
    int    jxl_effort   = 4;

    std::map<std::string, CameraProfileTiming> timing;   // by profile name

    // Timing for `profile`, or the defaults when the block does not name it.
    CameraProfileTiming timingFor(const std::string& profile_name) const;
};

struct CameraConfig {
    std::vector<CameraSpec> cameras;     // in config order; empty is a config error
    // [Camera] defaults, inherited by each block unless it overrides them.
    double jxl_distance = 0.8;
    int    jxl_effort   = 4;

    // Enabled cameras only.
    std::vector<const CameraSpec*> active() const;
    // The gimbal must stand still long enough for EVERY active camera, so the
    // scheduler takes the longest wait rather than the first camera's.
    int maxSettleWaitMs() const;
    int maxFrameTimeoutMs() const;
};

struct PathsConfig {
    // Where captured .jxl images are written. Supports leading ~ and $ENV
    // expansion. Empty => resolved to a sensible default at load time.
    std::string output_dir;
};

struct FeaturesConfig {
    bool enable_mqtt   = true;
    bool enable_camera = true;
    bool enable_serial = true;
    bool enable_imu    = false;  // Xsens MTi orientation/IMU (off by default)
    bool mock_camera   = false;  // use a simulated camera instead of Vimba X
    bool mock_serial   = false;  // use a simulated motor controller
    bool mock_imu      = false;  // use a simulated IMU instead of the MTi
    bool enable_env    = false;  // ambient temp/humidity sensor (off by default)
    bool mock_env      = false;  // use a simulated env sensor instead of the SHT41
};

// [IMU]: Xsens MTi connected over the LattePanda's RS-232 UART (a hardware
// /dev/ttyS* node, stable across reboots — not a USB device).
struct ImuConfig {
    std::string  device = "";       // e.g. /dev/ttyS4; empty => required when enabled
    unsigned int baud   = 115200;
};

// [Env]: ambient temperature/humidity sensor (SHT41) on the LattePanda's own
// native I2C bus — NOT the Arduino/motor serial link. Bus number varies by
// board; confirm with `i2cdetect -y N` (expect the SHT41 at 0x44).
struct EnvConfig {
    std::string  i2c_device = "/dev/i2c-1";  // empty => required when enabled
    unsigned int i2c_addr   = 0x44;
    int          period_ms  = 2000;          // sample interval
};

struct LoggingConfig {
    std::string level;  // trace|debug|info|warn|error|off; empty => default (CLI overrides)
    std::string trace;  // verbatim wire-trace categories: serial,mqtt,camera,control,all,none
};

struct UiConfig {
    bool enable_tui = false;  // false => headless line console (default); CLI --tui/--no-tui override
};

// [Scan]: source of the capture scan grid (the (yaw,pitch) waypoints the
// auto-sweep steps through). If grid_file is set, the CSV is loaded verbatim;
// otherwise a grid is generated from the parameters below (see ScanGrid).
struct ScanConfig {
    std::string grid_file;                  // path to an editable yaw_deg,pitch_deg CSV; empty => generate
    int         yaw_intervals = 56;         // generated: yaw positions across [yaw_min_deg, yaw_max_deg]
    double      yaw_min_deg   = -90.0;
    double      yaw_max_deg   = 90.0;
    std::string pitch_levels  = "0";        // generated: comma list of pitch elevations (deg)
};

// [Test] / [TestProfile.<name>]: the hardware self-test command. A profile is a
// named bundle of repetition counts, sampling windows and pass thresholds; the
// modules read the values they care about by key (open map so new tests can add
// knobs without touching the loader).
struct TestProfile {
    std::string                        name;
    std::map<std::string, double>      params;  // numeric knobs: reps, *_window_ms, *_max_*
    std::map<std::string, std::string> text;    // raw values incl. comma lists (e.g. step sizes)

    double                   get(const std::string& key, double fallback) const;
    int                      geti(const std::string& key, int fallback) const;
    bool                     getBool(const std::string& key, bool fallback) const;
    std::string              gets(const std::string& key, const std::string& fallback = "") const;
    std::vector<long>        getLongList(const std::string& key) const;  // parse "200,500,1000"
};

struct TestConfig {
    std::string                        default_profile = "standard";
    std::string                        baseline_file;   // empty => <logdir>/test_baseline.txt
    std::map<std::string, TestProfile> profiles;

    const TestProfile* find(const std::string& name) const;  // nullptr if absent
};

// Which homed endstop becomes yaw 0 deg, with degrees rising toward the other
// limit (which then lands near +360, a bit less for the soft-limit/mechanical
// gap). Off = use the configured/calibrated yaw zero_count as-is.
enum class YawHomeZero { Off, Low, High };

struct AppConfig {
    GeneralConfig  general;
    NetworkConfig  network;
    SerialConfig   serial;
    CameraConfig   camera;
    PathsConfig    paths;
    FeaturesConfig features;
    LoggingConfig  logging;
    UiConfig       ui;        // [UI] terminal dashboard toggle
    Geometry       geometry;  // [Motor] degrees<->counts maps (yaw + pitch)
    YawHomeZero    yaw_home_zero = YawHomeZero::Off;  // [Motor] re-anchor yaw zero on homing
    long           enc_error_warn_counts = 400;       // [Motor] live encoder-error WARN (0=off)
    ScanConfig     scan;      // [Scan] grid source
    ImuConfig      imu;       // [IMU] Xsens MTi serial device
    EnvConfig      env;       // [Env] SHT41 ambient sensor, LattePanda I2C
    TestConfig     test;      // [Test] hardware self-test profiles

    // Capture rate in images/second (derived from general.image_interval).
    double image_rate() const;
};

// Loads and validates configuration.
//
// Secrets: mqtt_user / mqtt_pw are taken from the environment variables
// FGC_MQTT_USER / FGC_MQTT_PW when present; the INI values are a fallback.
class ConfigLoader {
public:
    // Reads the INI file at `path` (via the bundled inih parser), maps it into
    // a typed AppConfig, applies environment overrides, and validates it.
    // Throws std::runtime_error with a clear message on failure.
    static AppConfig loadFromFile(const std::string& path);

    // Same mapping/validation logic, but from an already-parsed key->value map
    // ("Section.name" => value). Exposed for unit testing without file IO.
    static AppConfig fromMap(const std::map<std::string, std::string>& kv);
};

// Return `contents` with the given `key = value` pairs set under `[section]`:
// existing keys in that section are replaced in place (comments/order preserved),
// and any missing ones are appended in a `[section]` block at the end. Pure (no
// I/O) so it is unit-testable.
std::string updateIniSectionKeys(const std::string& contents, const std::string& section,
                                 const std::vector<std::pair<std::string, std::string>>& kv);

// Persist the live `[Motor]` calibration (counts_per_deg / zero_count for both
// axes) back into the INI file at `path`. Returns true on success.
bool saveMotorCalibration(const std::string& path, const Geometry& geo);

}  // namespace fgc