// OLEI driver example.
#include "lidarlib/lidar.hpp"
#include <cstdio>

int main() {
    lidarlib::Driver drv(lidarlib::MODEL_VB);

    if (!drv.open()) {
        fprintf(stderr, "Không mở được socket\n");
        return 1;
    }

    for (int i = 0; i < 10; ++i) {
        lidarlib::ScanResult result;
        if (!drv.recv_scan(result, 2000)) {
            fprintf(stderr, "Timeout hoặc lỗi nhận packet\n");
            break;
        }
        const lidarlib::LaserScan& scan = result.scan;
        const lidarlib::ExtraInfo& info = result.info;
        printf("Scan #%d: %zu điểm, ts=%u ms, err=0x%02X, model=%s\n",
               i, scan.ranges.size(), scan.timestamp_ms, info.error_status,
               info.detected_model.c_str());

        for (size_t j = 0; j < 20 && j < scan.ranges.size(); ++j) {
            float angle_deg = (scan.angle_min + j * scan.angle_increment) * 180.f / 3.14159265f;
            printf("  [%zu] angle=%.2f° dist=%.3fm intensity=%.0f\n",
                   j, angle_deg, scan.ranges[j], scan.intensities[j]);
        }
    }

    drv.close();
    return 0;
}

// Build:
//   g++ -std=c++17 -O2 -Iinclude -o example examples/example.cpp src/olei_lidar.cpp