#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 = "localhost";
constexpr int MQTT_PORT = 1883;
constexpr std::string_view MQTT_CLIENT_ID = "unitree_go2_client";
constexpr std::string_view MQTT_USERNAME = "";
constexpr std::string_view MQTT_PASSWORD = "";

// Topic settings
constexpr std::string_view TOPIC_PREFIX = "unitree/go2";
constexpr std::string_view TOPIC_CMD = "cmd";
constexpr std::string_view TOPIC_STATE = "state";
constexpr std::string_view TOPIC_VIDEO = "video";
constexpr std::string_view TOPIC_AUDIO = "audio";

// Robot control settings
constexpr double CONTROL_FREQUENCY = 200.0;       // Hz
constexpr double STATE_PUBLISH_FREQUENCY = 50.0;  // Hz

// 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;

// Video settings
constexpr int VIDEO_WIDTH = 1280;
constexpr int VIDEO_HEIGHT = 720;
constexpr int VIDEO_FPS = 30;
constexpr std::string_view VIDEO_FORMAT = "h264";
constexpr bool VIDEO_ENABLED = true;

// Audio settings
constexpr int AUDIO_SAMPLE_RATE = 16000;
constexpr int AUDIO_CHANNELS = 1;
constexpr std::string_view AUDIO_FORMAT = "pcm";
constexpr bool AUDIO_ENABLED = true;

class CustomConfig {
public:
    // 网络和MQTT连接
    std::string network_interface;
    std::string mqtt_broker;
    int mqtt_port;
    std::string mqtt_username;
    std::string mqtt_password;
    std::string mqtt_client_id;
    
    // MQTT话题
    std::string topic_prefix;
    std::string topic_cmd;
    std::string topic_state;
    std::string topic_video;
    std::string topic_audio;
    
    // 机器人控制和安全
    double control_frequency;
    double state_publish_frequency;
    double max_linear_velocity;
    double max_angular_velocity;
    double emergency_stop_timeout;
    double stand_height;
    int default_gait;
    
    // 多媒体
    bool enable_video;
    bool enable_audio;
    int video_width;
    int video_height;
    int video_fps;
    std::string video_format;
    int audio_sample_rate;
    int audio_channels;
    std::string audio_format;
    
    void loadDefaults();

};


} // namespace custom