/* +------------------------------------------------------------------------+
   |                     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/gui/CDisplayWindowPlots.h>
#include <mrpt/hwdrivers/CSickLaserSerial.h>
#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/system/os.h>

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

using namespace mrpt;
using namespace mrpt::obs;
using namespace mrpt::maps;
using namespace mrpt::gui;
using namespace mrpt::opengl;
using namespace mrpt::hwdrivers;
using namespace mrpt::poses;
using namespace std;

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

// ------------------------------------------------------
//				Test_PLS
// ------------------------------------------------------
void TestPLS()
{
	CSickLaserSerial laser;

	cout << "SICK LMS thru serial port test application." << endl << endl;

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

	laser.setSerialPort(SERIAL_NAME);

#if 1
	// laser.setBaudRate(500000);
	laser.setBaudRate(9600);
	laser.setScanFOV(180);
	laser.setScanResolution(50);  // 25=0.25deg, 50=0.5deg, 100=1deg
// laser.setMillimeterMode(true);
#endif

#if MRPT_HAS_WXWIDGETS
	CDisplayWindowPlots win("Laser scans");
#endif

	// Load config:
	// laser.loadConfig( CConfigFile( "./LASER_SCAN_TEST.ini") ,"PLS#1" );

	cout << "Trying to initialize the laser..." << endl;
	laser.initialize();	 // This will raise an exception on error
	cout << "Initialized OK!" << endl;

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

		try
		{
			laser.doProcessSimple(thereIsObservation, obs, hardError);
		}
		catch (const std::exception& e)
		{
			cerr << e.what() << endl;
			hardError = true;
		}

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

		if (thereIsObservation)
		{
			printf(
				"[TEST] Observation received (%u ranges over %.02fdeg, "
				"mid=%.03f)!!\n",
				(unsigned int)obs.getScanSize(), RAD2DEG(obs.aperture),
				obs.getScanRange(obs.getScanSize() / 2));

			obs.sensorPose = CPose3D(0, 0, 0);
			mrpt::maps::CSimplePointsMap theMap;
			theMap.insertionOptions.minDistBetweenLaserPoints = 0;
			theMap.insertObservation(obs);

#if MRPT_HAS_WXWIDGETS
			std::vector<float> xs, ys, zs;
			theMap.getAllPoints(xs, ys, zs);
			win.plot(xs, ys, ".b3");
			win.axis_equal();
#endif
		}
		std::this_thread::sleep_for(15ms);
	};

	laser.turnOff();
}

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

		TestPLS();
		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;
	}
}
