// test_dual.cpp — test 2 Olei lidars (front + rear) concurrently, per appsettings.json
//   Olei-front: scan_1, DeviceIp 192.168.100.11, LocalIp 192.168.100.100, DevicePort 2368
//   Olei-rear : scan_2, DeviceIp 192.168.100.12, LocalIp 192.168.100.100, DevicePort 2369
#include "olei_lidar.hpp"
#include <cstdio>
#include <thread>

static void run_lidar(const char* tag, const olei::ModelConfig& cfg,
                       const std::string& local_ip, uint16_t port, int n_scans) {
    olei::Driver drv(cfg, local_ip, port);
    if (!drv.open()) {
        fprintf(stderr, "[%s] Khong mo duoc socket tren %s:%u (interface khong ton tai?)\n",
                tag, local_ip.c_str(), port);
        return;
    }
    printf("[%s] Da bind %s:%u, dang doi scan...\n", tag, local_ip.c_str(), port);

    for (int i = 0; i < n_scans; ++i) {
        olei::Scan scan;
        if (!drv.recv_scan(scan, 2000)) {
            fprintf(stderr, "[%s] Timeout/loi nhan packet (scan #%d)\n", tag, i);
            continue;
        }
        printf("[%s] Scan #%d: %zu diem, ts=%u ms, err=0x%02X, model=%s\n",
               tag, i, scan.points.size(), scan.timestamp_ms, scan.error_status,
               drv.detected_model());
        for (size_t j = 0; j < 3 && j < scan.points.size(); ++j) {
            const auto& p = scan.points[j];
            printf("       [%zu] angle=%.2f dist=%.3fm intensity=%u\n",
                   j, p.angle_deg, p.distance_m, p.intensity);
        }
    }
    drv.close();
}

int main() {
    // Both front and rear are Family B in practice — front's real header
    // string is "OLELR-1BS2", rear's is "OLELR-1BS5" (verified via live UDP
    // sniff), NOT the VB (Family A) model the config name suggested. With
    // MODEL_AUTO, the driver reads the real model name from the header and
    // narrows the FOV when it matches a known entry in kModelTable
    // (olei_lidar.cpp); "1BS5" matches (→ full 360°), but "1BS2" doesn't, so
    // front currently stays at the unfiltered 360° default. Call
    // drv.detected_model() to see which name was actually read.
    std::thread t_front(run_lidar, "front/scan_1", olei::MODEL_AUTO,
                         "192.168.100.100", 2368, 5);
    std::thread t_rear(run_lidar, "rear/scan_2", olei::MODEL_AUTO,
                        "192.168.100.100", 2369, 5);

    t_front.join();
    t_rear.join();
    return 0;
}