/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2023, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/comms/CSerialPort.h>
#include <mrpt/hwdrivers/C2DRangeFinderAbstract.h>
#include <mrpt/math/TPose3D.h>

namespace mrpt::hwdrivers
{
/** This "software driver" implements the communication protocol for interfacing
 * a SICK LMS 2XX laser scanners through a standard RS232 serial port (or a
 * USB2SERIAL converter).
 *   The serial port is opened upon the first call to "doProcess" or
 * "initialize", so you must call "loadConfig" before
 *   this, or manually call "setSerialPort". Another alternative is to call the
 * base class method C2DRangeFinderAbstract::bindIO,
 *   but the "setSerialPort" interface is probably much simpler to use.
 *
 *   For an example of usage see the example in
 * "samples/SICK_laser_serial_test".
 *   See also the example configuration file for rawlog-grabber in
 * "share/mrpt/config_files/rawlog-grabber".
 *
 *  \code
 *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
 * -------------------------------------------------------
 *   [supplied_section_name]
 *   COM_port_WIN = COM1   // Serial port to connect to
 *   COM_port_LIN = ttyS0
 *
 *   COM_baudRate = 38400 // Possible values: 9600 (default), 38400, 5000000
 *   mm_mode      = 1/0   // 1: millimeter mode, 0:centimeter mode (Default=0)
 *   FOV          = 180   // Field of view: 100 or 180 degrees (Default=180)
 *   resolution   =  50   // Scanning resolution, in units of 1/100 degree.
 * Valid values: 25,50,100 (Default=50)
 *   //skip_laser_config  = true // (Default:false) If true, doesn't send the
 * initialization commands to the laser and go straight to capturing
 *
 *   pose_x=0.21	// Laser range scaner 3D position in the robot (meters)
 *   pose_y=0
 *   pose_z=0.34
 *   pose_yaw=0	// Angles in degrees
 *   pose_pitch=0
 *   pose_roll=0
 *
 *    //preview = true // Enable GUI visualization of captured data
 *
 *    // Optional: Exclusion zones to avoid the robot seeing itself:
 *    //exclusionZone1_x = 0.20 0.30 0.30 0.20
 *    //exclusionZone1_y = 0.20 0.30 0.30 0.20
 *
 *    // Optional: Exclusion zones to avoid the robot seeing itself:
 *    //exclusionAngles1_ini = 20  // Deg
 *    //exclusionAngles1_end = 25  // Deg
 *  \endcode
 *
 * \sa C2DRangeFinderAbstract
 * \ingroup mrpt_hwdrivers_grp
 */
class CSickLaserSerial : public C2DRangeFinderAbstract
{
	DEFINE_GENERIC_SENSOR(CSickLaserSerial)

   private:
	bool m_mm_mode{false};
	/** 100 or 180 deg */
	int m_scans_FOV{180};
	/** 1/100th of deg: 100, 50 or 25 */
	int m_scans_res{50};

	/** The sensor 6D pose: */
	mrpt::math::TPose3D m_sensorPose;

	static int CRC16_GEN_POL;

	/** Tries to open the com port and setup all the LMS protocol. Returns true
	 * if OK or already open. */
	bool tryToOpenComms(std::string* err_msg = nullptr);
	bool waitContinuousSampleFrame(
		std::vector<float>& ranges, unsigned char& LMS_status,
		bool& is_mm_mode);

	/** Assures laser is connected and operating at 38400, in its case returns
	 * true. */
	bool LMS_setupSerialComms();
	/** Send a command to change the LMS comms baudrate, return true if ACK is
	 * OK. baud can be: 9600, 19200, 38400, 500000 */
	bool LMS_setupBaudrate(int baud);
	/** Send a status query and wait for the answer. Return true on OK. */
	bool LMS_statusQuery();
	/** Returns false if timeout */
	bool LMS_waitACK(uint16_t timeout_ms);
	/** Returns false if timeout */
	bool LMS_waitIncomingFrame(uint16_t timeout);
	/** Returns false on error */
	bool LMS_sendMeasuringMode_cm_mm();
	bool LMS_startContinuousMode();
	bool LMS_endContinuousMode();

	/** Send header+command-data+crc and waits for ACK. Return false on error.
	 */
	bool SendCommandToSICK(const uint8_t* cmd, const uint16_t cmd_len);

	uint8_t m_received_frame_buffer[2000];

	/** If set to non-empty, the serial port will be attempted to be opened
	 * automatically when this class is first used to request data from the
	 * laser. */
	std::string m_com_port;
	/** Will be !=nullptr only if I created it, so I must destroy it at the end.
	 */
	std::shared_ptr<mrpt::comms::CSerialPort> m_mySerialPort;
	/** Baudrate: 9600, 38400, 500000 */
	int m_com_baudRate{38400};
	/** Default = 1 */
	unsigned int m_nTries_connect{1};
	unsigned int m_nTries_current{0};
	/** If true, doesn't send the initialization commands to the laser and go
	 * straight to capturing */
	bool m_skip_laser_config{false};

   protected:
	/** See the class documentation at the top for expected parameters */
	void loadConfig_sensorSpecific(
		const mrpt::config::CConfigFileBase& configSource,
		const std::string& iniSection) override;

   public:
	/** Constructor  */
	CSickLaserSerial();

	/** Destructor  */
	~CSickLaserSerial() override;

	/** Changes the serial port to connect to (call prior to 'doProcess'), for
	 * example "COM1" or "ttyS0".
	 *  This is not needed if the configuration is loaded with "loadConfig".
	 */
	void setSerialPort(const std::string& port) { m_com_port = port; }
	/** \sa setSerialPort */
	std::string getSerialPort() const { return m_com_port; }
	/** Changes the serial port baud rate (call prior to 'doProcess'); valid
	 * values are 9600,38400 and 500000.
	 *  This is not needed if the configuration is loaded with "loadConfig".
	 *  \sa getBaudRate */
	void setBaudRate(int baud) { m_com_baudRate = baud; }
	/** \sa setBaudRate */
	int getBaudRate() const { return m_com_baudRate; }
	/** Enables/Disables the millimeter mode, with a greater accuracy but a
	 * shorter range (default=false)
	 *  (call prior to 'doProcess') This is not needed if the configuration is
	 * loaded with "loadConfig".
	 */
	void setMillimeterMode(bool mm_mode = true) { m_mm_mode = mm_mode; }
	/** Set the scanning field of view - possible values are 100 or 180
	 * (default)
	 *  (call prior to 'doProcess') This is not needed if the configuration is
	 * loaded with "loadConfig".
	 */
	void setScanFOV(int fov_degrees) { m_scans_FOV = fov_degrees; }
	int getScanFOV() const { return m_scans_FOV; }
	/** Set the scanning resolution, in units of 1/100 degree - Possible values
	 * are 25, 50 and 100, for 0.25, 0.5 (default) and 1 deg.
	 *  (call prior to 'doProcess') This is not needed if the configuration is
	 * loaded with "loadConfig".
	 */
	void setScanResolution(int res_1_100th_degree)
	{
		m_scans_res = res_1_100th_degree;
	}
	int getScanResolution() const { return m_scans_res; }
	/** If performing several tries in ::initialize(), this is the current try
	 * loop number. */
	unsigned int getCurrentConnectTry() const { return m_nTries_current; }
	/** Specific laser scanner "software drivers" must process here new data
	 * from the I/O stream, and, if a whole scan has arrived, return it.
	 *  This method will be typically called in a different thread than other
	 * methods, and will be called in a timely fashion.
	 */
	void doProcessSimple(
		bool& outThereIsObservation,
		mrpt::obs::CObservation2DRangeScan& outObservation,
		bool& hardwareError) override;

	/** Set-up communication with the laser.
	 *  Called automatically by rawlog-grabber.
	 *  If used manually, call after "loadConfig" and before "doProcess".
	 *
	 *  In this class this method does nothing, since the communications are
	 * setup at the first try from "doProcess" or "doProcessSimple".
	 */
	void initialize() override;

	/** Enables the scanning mode (in this class this has no effect).
	 * \return If everything works "true", or "false" if there is any error.
	 */
	bool turnOn() override;

	/** Disables the scanning mode (in this class this has no effect).
	 * \return If everything works "true", or "false" if there is any error.
	 */
	bool turnOff() override;

};	// End of class

}  // namespace mrpt::hwdrivers
