#pragma once

#include <array>
#include "common/mat.h"
#include "system/hardware/hw.h"

const int TRAJECTORY_SIZE = 33;
const int LAT_MPC_N = 16;
const int LON_MPC_N = 32;
const float MIN_DRAW_DISTANCE = 10.0;
const float MAX_DRAW_DISTANCE = 100.0;

const float RYG_GREEN = 0.01165;
const float RYG_YELLOW = 0.06157;

template <typename T, size_t size>
constexpr std::array<T, size> build_idxs(float max_val) {
  std::array<T, size> result{};
  for (int i = 0; i < size; ++i) {
    result[i] = max_val * ((i / (double)(size - 1)) * (i / (double)(size - 1)));
  }
  return result;
}

constexpr auto T_IDXS = build_idxs<double, TRAJECTORY_SIZE>(10.0);
constexpr auto T_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(10.0);
constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0);
constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);

const mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2,
                                           0.0, 2648.0, 1208.0 / 2,
                                           0.0, 0.0, 1.0}};

// tici ecam focal probably wrong? magnification is not consistent across frame
// Need to retrain model before this can be changed
const mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2,
                                           0.0, 567.0, 1208.0 / 2,
                                           0.0, 0.0, 1.0}};