// sick_example.cpp — quick try-out of the SICK TiM driver (SOPAS/CoLa-A, TCP)
//
// Verified against a real SICK TiM781S — see the caveat in
// include/lidarlib/sick_lidar.hpp for exactly what was (and wasn't) confirmed.
#include "lidarlib/sick_lidar.hpp"
#include <cstdio>

int main() {
    lidarlib::SickDriver drv(lidarlib::MODEL_SICK_TIM571, "192.168.0.1", 2111);

    if (!drv.open()) {
        fprintf(stderr, "Không kết nối được TCP tới lidar SICK\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 telegram\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 sick_example examples/sick_example.cpp src/sick_lidar.cpp