#include "picojson.h"
#include <boost/filesystem.hpp>
#include <fstream>

namespace fs = boost::filesystem;

void ReadJsonData(t2l_param &param, const std::string json_file_path) {

  if ( !fs::exists(json_file_path) )
    throw std::runtime_error("File : " + json_file_path + " not found");

  std::ifstream ifs(json_file_path);
  const std::string json((std::istreambuf_iterator<char >(ifs)), std::istreambuf_iterator<char >());
  ifs.close();

  picojson::value v;
  const std::string err = picojson::parse(v, json);
  if ( !err.empty() )
    throw std::runtime_error("JSON parse error : " + err);

  picojson::object &all = v.get<picojson::object >();
  picojson::object &connect_param_angle = all["connect_param_angle"].get<picojson::object >();
  picojson::object &connect_param_position = all["connect_param_position"].get<picojson::object >();

  param.intercept_ax = connect_param_angle["intercept_x"].get<double>();
  param.intercept_ay = connect_param_angle["intercept_y"].get<double>();
  param.intercept_ar = connect_param_angle["intercept_r"].get<double>();
  param.intercept_al = connect_param_angle["intercept_l"].get<double>();
  param.slope_ax = connect_param_angle["slope_x"].get<double>();
  param.slope_ay = connect_param_angle["slope_y"].get<double>();
  param.slope_ar = connect_param_angle["slope_r"].get<double>();
  param.slope_al = connect_param_angle["slope_l"].get<double>();
  param.slope2_ax = connect_param_angle["slope2_x"].get<double>();
  param.slope2_ay = connect_param_angle["slope2_y"].get<double>();
  param.slope2_ar = connect_param_angle["slope2_r"].get<double>();
  param.slope2_al = connect_param_angle["slope2_l"].get<double>();
  
  param.intercept_px = connect_param_position["intercept_x"].get<double>();
  param.intercept_py = connect_param_position["intercept_y"].get<double>();
  param.intercept_pr = connect_param_position["intercept_r"].get<double>();
  param.intercept_pl = connect_param_position["intercept_l"].get<double>();
  param.slope_px = connect_param_position["slope_x"].get<double>();
  param.slope_py = connect_param_position["slope_y"].get<double>();
  param.slope_pr = connect_param_position["slope_r"].get<double>();
  param.slope_pl = connect_param_position["slope_l"].get<double>();
  param.slope2_px = connect_param_position["slope2_x"].get<double>();
  param.slope2_py = connect_param_position["slope2_y"].get<double>();
  param.slope2_pr = connect_param_position["slope2_r"].get<double>();
  param.slope2_pl = connect_param_position["slope2_l"].get<double>();

}