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#include "CYdLidar.h"
#include <iostream>
#include <string>
#include <algorithm>
#include <cctype>
using namespace std;
using namespace ydlidar;

#if defined(_MSC_VER)
#pragma comment(lib, "ydlidar_sdk.lib")
#endif

/**
 * @brief etlidar test
 * @param argc
 * @param argv
 * @return
 * @par Flow chart
 * Step1: instance CYdLidar.\n
 * Step2: set paramters.\n
 * Step3: initialize SDK and LiDAR.(::CYdLidar::initialize)\n
 * Step4: Start the device scanning routine which runs on a separate thread and enable motor.(::CYdLidar::turnOn)\n
 * Step5: Get the LiDAR Scan Data.(::CYdLidar::doProcessSimple)\n
 * Step6: Stop the device scanning thread and disable motor.(::CYdLidar::turnOff)\n
 * Step7: Uninitialize the SDK and Disconnect the LiDAR.(::CYdLidar::disconnecting)\n
 */
int main(int argc, char *argv[]) {
  printf("__   ______  _     ___ ____    _    ____  \n");
  printf("\\ \\ / /  _ \\| |   |_ _|  _ \\  / \\  |  _ \\ \n");
  printf(" \\ V /| | | | |    | || | | |/ _ \\ | |_) | \n");
  printf("  | | | |_| | |___ | || |_| / ___ \\|  _ <  \n");
  printf("  |_| |____/|_____|___|____/_/   \\_\\_| \\_\\ \n");
  printf("\n");
  fflush(stdout);
  std::string port;
  ydlidar::os_init();

  printf("Please select the lidar IP:");
  std::cin >> port;

  if (!ydlidar::os_isOk()) {
    return 0;
  }

  std::string input_frequency;

  float frequency = 20.0;

  while (ydlidar::os_isOk()) {
    printf("Please enter the lidar scan frequency[10-30]:");
    std::cin >> input_frequency;
    frequency = atof(input_frequency.c_str());

    if (frequency <= 30 && frequency >= 10.0) {
      break;
    }

    fprintf(stderr,
            "Invalid scan frequency,The scanning frequency range is 10 to 30 HZ, Please re-enter.\n");
  }

  if (!ydlidar::os_isOk()) {
    return 0;
  }




  CYdLidar laser;
  //////////////////////string property/////////////////
  /// lidar port
  laser.setlidaropt(LidarPropSerialPort, port.c_str(), port.size());
  /// ignore array
  std::string ignore_array;
  ignore_array.clear();
  laser.setlidaropt(LidarPropIgnoreArray, ignore_array.c_str(),
                    ignore_array.size());

  //////////////////////int property/////////////////
  /// lidar baudrate
  int optval = 8000;
  laser.setlidaropt(LidarPropSerialBaudrate, &optval, sizeof(int));
  /// tof lidar
  optval = TYPE_TOF_NET;
  laser.setlidaropt(LidarPropLidarType, &optval, sizeof(int));
  /// device type
  optval = YDLIDAR_TYPE_TCP;
  laser.setlidaropt(LidarPropDeviceType, &optval, sizeof(int));
  /// sample rate
  optval = 20;
  laser.setlidaropt(LidarPropSampleRate, &optval, sizeof(int));
  /// abnormal count
  optval = 4;
  laser.setlidaropt(LidarPropAbnormalCheckCount, &optval, sizeof(int));

  //////////////////////bool property/////////////////
  /// fixed angle resolution
  bool b_optvalue = false;
  laser.setlidaropt(LidarPropFixedResolution, &b_optvalue, sizeof(bool));
  /// rotate 180
  laser.setlidaropt(LidarPropReversion, &b_optvalue, sizeof(bool));
  /// Counterclockwise
  laser.setlidaropt(LidarPropInverted, &b_optvalue, sizeof(bool));
  b_optvalue = true;
  laser.setlidaropt(LidarPropAutoReconnect, &b_optvalue, sizeof(bool));
  /// one-way communication
  b_optvalue = false;
  laser.setlidaropt(LidarPropSingleChannel, &b_optvalue, sizeof(bool));
  /// intensity
  b_optvalue = true;
  laser.setlidaropt(LidarPropIntenstiy, &b_optvalue, sizeof(bool));
  /// Motor DTR
  b_optvalue = false;
  laser.setlidaropt(LidarPropSupportMotorDtrCtrl, &b_optvalue, sizeof(bool));

  //////////////////////float property/////////////////
  /// unit: °
  float f_optvalue = 180.0f;
  laser.setlidaropt(LidarPropMaxAngle, &f_optvalue, sizeof(float));
  f_optvalue = -180.0f;
  laser.setlidaropt(LidarPropMinAngle, &f_optvalue, sizeof(float));

  /// unit: m
  f_optvalue = 64.f;
  laser.setlidaropt(LidarPropMaxRange, &f_optvalue, sizeof(float));
  f_optvalue = 0.05f;
  laser.setlidaropt(LidarPropMinRange, &f_optvalue, sizeof(float));
  /// unit: Hz
  f_optvalue = frequency;
  laser.setlidaropt(LidarPropScanFrequency, &f_optvalue, sizeof(float));

  bool ret = laser.initialize();

  if (ret) {
    ret = laser.turnOn();
  }  else {
    fprintf(stderr, "%s\n", laser.DescribeError());
    fflush(stderr);
  }

  LaserScan scan;

  while (ret && ydlidar::os_isOk()) {
    if (laser.doProcessSimple(scan)) {
      fprintf(stdout, "Scan received[%lu]: %u ranges is [%f]Hz\n",
              scan.stamp,
              (unsigned int)scan.points.size(), 1.0 / scan.config.scan_time);
      fflush(stdout);
    } else {
      fprintf(stderr, "Failed to get Lidar Data\n");
      fflush(stderr);
    }
  }

  if (ret) {
    laser.turnOff();
  }

  laser.disconnecting();

  return 0;
}
