// SICK TiM 5xx/7xx over SOPAS/CoLa-A (TCP) — plugin-private header.
#pragma once
#include "lidar_interface.hpp"

#include <cstdint>
#include <string>

namespace xlidar {

// SICK TiM presets. FOV/range from datasheets; scan_angle_* are informational
// only and do NOT filter points. angle_offset_deg = -90 because the TiM wire
// frame puts 90° at the device front.
inline constexpr ModelConfig MODEL_SICK_TIM5XX { "SICK-TIM5xx", -135.f, 135.f, 0.05f, 10.f, -90.f }; // TiM551/561, 270°, 10m
inline constexpr ModelConfig MODEL_SICK_TIM571 { "SICK-TIM571", -135.f, 135.f, 0.05f, 25.f, -90.f }; // TiM571,      270°, 25m
inline constexpr ModelConfig MODEL_SICK_TIM7XX { "SICK-TIM7xx", -135.f, 135.f, 0.05f, 25.f, -90.f }; // TiM781,      270°, 25m

// SICK TiM5xx/7xx over SOPAS/CoLa-A (TCP, default port 2111).
// Verified against a real TiM781S (FW V5.11). NOT verified: NumEncoders > 0,
// the 8-bit channel branch, and the TIM5xx/TIM571 FOV/range numbers.
class SickCodeDriver : public LidarDriverInterface {
public:
    // inverted: unit mounted upside-down → mirror the scan.
    explicit SickCodeDriver(const ModelConfig& cfg,
                            const std::string& ip,
                            uint16_t            port     = 2111,
                            bool                inverted = false);
    ~SickCodeDriver();

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

    DriverInfo get_driver_info() const override;

    // Connect + send "sEN LMDscandata 1" to start continuous scan output.
    ErrorCode open() override;
    void close() override;
    bool recv_scan(ScanResult& out, int timeout_ms = 2000) 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:
    bool send_telegram(const std::string& body);
    bool read_telegram(std::string& out, int timeout_ms);
    bool parse_lmdscandata(const std::string& telegram, 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_lmdscandata().
    Diagnostics latest_diag_;

    // Leftover TCP bytes carried across telegram boundaries; per-instance.
    std::string recv_buf_;
};

} // namespace xlidar