function result = dn_cn_test(idx)
%DN_CN_TEST Is the detection weight d_n needed next to the confirmation c_n?
%   All variants use v109: median-3 reference, c_n in [0.1,1], mu = 0.32.
%   Scenarios: original seeds, +7000, +8000, +9000, drive-idle-drive. Target 0.4.
%   J = mean error (8 cases) + mean unsafe % of adaptive cases / 1000.
here = fileparts(mfilename('fullpath'));
file = fullfile(here, 'dn_cn_test.mat');
if isfile(file), s = load(file); result = s.result; else, result = struct('rows', {{}}); end
base = struct('c_ref', true, 'c_gate', true, 'c_paper', true, 'up_gain', 0.32);
methods = {'v109: c_n and d_n', base
    'No d_n (d = 1)', setf(base, 'd_mode', 'one')
    'd_n replaced by c_n', setf(base, 'd_mode', 'c')
    'No c_n (d_n only)', struct('c_ref', true, 'up_gain', 0.32)
    'Neither c_n nor d_n', struct('c_ref', true, 'up_gain', 0.32, 'd_mode', 'one')};
sc = {0 false; 7000 false; 8000 false; 9000 false; 0 true};
if nargin < 1, idx = 1:size(methods, 1); end
for j = idx
    m = zeros(size(sc, 1), 4);
    for k = 1:size(sc, 1)
        evalc('R = run_code_bridge_benchmark(0.4, methods{j,2}, sc{k,1}, sc{k,2});');
        t = R.table;
        m(k, :) = [mean(t.err), mean(t.err([3 4 7 8])), mean(t.unsafe(5:8)), mean(t.err) + mean(t.unsafe(5:8))/1000];
    end
    result.rows{j} = struct('name', methods{j,1}, 'err', m(:,1)', 'errN', m(:,2)', 'unsafe', m(:,3)', 'J', m(:,4)');
    fprintf('%-24s J %s | unsafe %s\n', methods{j,1}, sprintf('%.4f ', m(:,4)), sprintf('%.2f ', m(:,3)))
    save(file, 'result')
end
end

function s = setf(s, f, v)
s.(f) = v;
end