/* +------------------------------------------------------------------------+
   |                     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          |
   +------------------------------------------------------------------------+ */

#include <mrpt/hwdrivers/CRoboPeakLidar.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/system/CTicTac.h>
#include <mrpt/system/os.h>
#include <mrpt/system/string_utils.h>

#include <chrono>
#include <iostream>
#include <thread>

using namespace mrpt;
using namespace mrpt::hwdrivers;
using namespace mrpt::obs;
using namespace mrpt::gui;
using namespace mrpt::system;
using namespace std;

string SERIAL_NAME;	 // Name of the serial port to open

// ------------------------------------------------------
//				Test_RPLIDAR
// ------------------------------------------------------
void Test_RPLIDAR()
{
	CRoboPeakLidar laser;
	string serName;

	if (SERIAL_NAME.empty())
	{
		std::cout << "Enter the serial port name (e.g. COM1, ttyS0, ttyUSB0, "
					 "ttyACM0): ";
		getline(cin, serName);
	}
	else
	{
		std::cout << "Using serial port: " << SERIAL_NAME << endl;
		serName = SERIAL_NAME;
	}

	// Set the laser serial port:
	laser.setSerialPort(serName);

	// Show GUI preview:
	laser.showPreview(true);

	// Config: Use defaults + selected port ( serial or ethernet )
	printf("Turning laser ON...\n");
	if (laser.turnOn()) printf("Initialization OK!\n");
	else
	{
		printf("Initialization failed!\n");
		return;
	}

	cout << "Press any key to stop capturing..." << endl;

	CTicTac tictac;
	tictac.Tic();

	while (!mrpt::system::os::kbhit())
	{
		bool thereIsObservation, hardError;
		CObservation2DRangeScan obs;

		laser.doProcessSimple(thereIsObservation, obs, hardError);

		if (hardError) printf("[TEST] Hardware error=true!!\n");

		if (thereIsObservation)
		{
			double FPS = 1.0 / tictac.Tac();

			printf(
				"Scan received: %u ranges, FOV: %.02fdeg, %.03fHz: mid "
				"rang=%fm\n",
				(unsigned int)obs.getScanSize(), RAD2DEG(obs.aperture), FPS,
				obs.getScanRange(obs.getScanSize() / 2));

			obs.sensorPose = mrpt::poses::CPose3D(0, 0, 0);

			tictac.Tic();
		}

		std::this_thread::sleep_for(5ms);
	};
}

int main(int argc, char** argv)
{
	try
	{
		if (argc > 1) SERIAL_NAME = string(argv[1]);

		Test_RPLIDAR();
		return 0;
	}
	catch (const std::exception& e)
	{
		std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
		return -1;
	}
	catch (...)
	{
		printf("Another exception!!");
		return -1;
	}
}
