// SICK nanoScan3 / microScan3 safety scanners over UDP — plugin-private header.
#pragma once
#include "lidar_interface.hpp"

#include <cstdint>
#include <string>
#include <vector>

namespace xlidar {

inline constexpr ModelConfig MODEL_SICK_NANOSCAN3 { "SICK-nanoScan3", -137.5f, 137.5f, 0.05f, 40.f };

// SICK nanoScan3 / microScan3 safety-scanner binary UDP output. Layout ported
// from SICK's open-source sick_safetyscanners; NOT verified on real hardware.
// Passive UDP receiver: the sensor's UDP target must be configured up front in
// SICK Safety Designer — this class does no CoLa2/TCP handshake.
class SickSafetyDriver : public LidarDriverInterface {
public:
    // ip: local bind address; port: local UDP port the sensor sends to;
    // inverted: unit mounted upside-down → mirror the scan.
    explicit SickSafetyDriver(const ModelConfig& cfg,
                              const std::string& ip       = "0.0.0.0",
                              uint16_t            port     = 6060,
                              bool                inverted = false);
    ~SickSafetyDriver();

    SickSafetyDriver(const SickSafetyDriver&)            = delete;
    SickSafetyDriver& operator=(const SickSafetyDriver&) = delete;

    DriverInfo get_driver_info() const override;

    ErrorCode open() override;
    void close() override;
    bool recv_scan(ScanResult& out, int timeout_ms = 1000) override;
    void set_scan_callback(ScanCallback cb) override { cb_ = std::move(cb); }
    bool spin_once() override;
    bool is_open() const override { return sock_fd_ >= 0; }

    // No model string on the wire — returns the configured name.
    const char* detected_model() const override { return detected_model_name_.c_str(); }

    Diagnostics get_diagnostics() const override { return latest_diag_; }

private:
    int  recv_datagram(int timeout_ms);
    bool parse_packet(const uint8_t* buf, int len, ScanResult& out);

    ModelConfig  cfg_;
    std::string  detected_model_name_;  // owned copy of cfg_.name (stable lifetime)
    std::string  ip_;
    uint16_t     port_;
    bool         inverted_ = false;
    int          sock_fd_ = -1;
    ScanCallback cb_;

    // Snapshot for get_diagnostics(); refreshed by parse_packet().
    Diagnostics latest_diag_;

    // Per-instance; sized for a full safety-data packet (max ~2751 beams).
    std::vector<uint8_t> recv_buf_;
};

} // namespace xlidar