#pragma once

#include <string>
#include <string_view>

namespace custom {

/**
 * @brief Robot motion gait types
 */
enum class Gait : int {
    IDLE = 0,           // Standing still
    TROT = 1,           // Normal walking
    TROT_RUNNING = 2    // Fast running
};


// Network settings
constexpr std::string_view NETWORK_INTERFACE = "eth0";

// MQTT settings
constexpr std::string_view MQTT_BROKER = "120.24.241.164";
constexpr int MQTT_PORT = 1883;
constexpr std::string_view MQTT_CLIENT_ID = "unitree_go2_client";
constexpr std::string_view MQTT_USERNAME = "lzwc";
constexpr std::string_view MQTT_PASSWORD = "Lzwc@4187.";

// MQTT Topics
constexpr const char* TOPIC_PREFIX = "unitree/go2";
constexpr const char* TOPIC_CMD = "cmd";

// Safety settings
constexpr double MAX_LINEAR_VELOCITY = 1.5;       // m/s
constexpr double MAX_ANGULAR_VELOCITY = 2.0;      // rad/s
constexpr double EMERGENCY_STOP_TIMEOUT = 5.0;    // seconds

// Motion settings
constexpr double STAND_HEIGHT = 0.0;              // relative height
constexpr Gait DEFAULT_GAIT = Gait::IDLE;


class CustomConfig {
public:
    std::string network_interface;
    std::string mqtt_broker;
    int mqtt_port;
    std::string mqtt_username;
    std::string mqtt_password;
    std::string mqtt_client_id;
    
    std::string topic_prefix;
    std::string topic_cmd;
    std::string topic_state;
    
    double control_frequency;
    double max_linear_velocity;
    double max_angular_velocity;
    double emergency_stop_timeout;
    double stand_height;
    int default_gait;
    
    void loadDefaults();

};


} // namespace custom