#include "static_station_config.hpp"
#include <algorithm>
#include <cmath>
#include <iomanip>
#include <iostream>

int main() {
    using namespace target_exposure;
    ExposureControl control;
    const auto config = staticStationExampleConfig();
    double actual_exposure_us = config.empirical_exposure_us;
    std::cout << "SIMULATED brightness only; no camera/field validation. Exposure unit: us\n";
    for (int index = 0; index < 12; ++index) {
        const TimestampUs now = (static_cast<TimestampUs>(index) + 1) * 1'000'000;
        const auto before = control.preCapture(now, config);
        if (!before.accepted) return 1;
        // The caller applies the requested exposure BEFORE acquisition.
        if (before.initialization_required) actual_exposure_us = *before.suggested_exposure_us;
        const double response = 0.11 - 0.002 * index;
        const auto gray = static_cast<int>(std::clamp(std::round(response * actual_exposure_us), 0.0, 255.0));
        FrameInput frame;
        frame.image = cv::Mat(32, 32, CV_8UC1, cv::Scalar(gray));
        frame.roi.rectangles.emplace_back(8, 8, 16, 16);
        frame.has_usable_target = true; // real callers supply their own recognition result
        frame.timestamp_us = now;
        frame.actual_exposure_us = actual_exposure_us;
        frame.next_capture_timestamp_us = now + 1'000'000;
        const auto result = control.processFrame(frame);
        if (!result.accepted || !result.metering.target.valid()) return 2;
        std::cout << std::fixed << std::setprecision(2) << "frame=" << index
                  << " state=" << toString(result.state) << " gray=" << *result.metering.target.gray
                  << " actual_us=" << actual_exposure_us
                  << " next_us=" << *result.suggested_exposure_us
                  << " prediction_used=" << result.prediction.adopted
                  << " reason=" << toString(result.reason) << '\n';
        // The application applies this to frame N+1, then supplies the actual applied value.
        if (result.adjustment_suggested) actual_exposure_us = *result.suggested_exposure_us;
    }
}