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#include "CYdLidar.h"
#include <iostream>
#include <string>
#include <algorithm>
#include <cctype>
#include "core/common/ydlidar_help.h"

using namespace std;
using namespace ydlidar;
using namespace ydlidar::core::common;

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


int main(int argc, char *argv[])
{
  printLogo();
  //初始化
  os_init();
  //初始化串口号
  std::string port;
  std::map<std::string, std::string> ports = ydlidar::lidarPortList();
  std::map<std::string, std::string>::iterator it;
  if (ports.size() == 1)
  {
    port = ports.begin()->second;
  }
  else
  {
    int id = 0;
    for (it = ports.begin(); it != ports.end(); it++)
    {
      printf("[%d] %s %s\n", 
        id, it->first.c_str(), it->second.c_str());
      id++;
    }

    if (ports.empty())
    {
      printf("Not Lidar was detected. Please enter the lidar serial port:");
      std::cin >> port;
    }
    else
    {
      while (os_isOk())
      {
        printf("Please select the lidar port:");
        std::string number;
        std::cin >> number;

        if ((size_t)atoi(number.c_str()) >= ports.size())
        {
          continue;
        }

        it = ports.begin();
        id = atoi(number.c_str());

        while (id)
        {
          id--;
          it++;
        }

        port = it->second;
        break;
      }
    }
  }

  int baudrate = 460800; //默认串口号

  bool isSingleChannel = false;
  
  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
  laser.setlidaropt(LidarPropSerialBaudrate, &baudrate, sizeof(int));
  /// sdm lidar
  int optval = TYPE_SDM;
  laser.setlidaropt(LidarPropLidarType, &optval, sizeof(int));
  /// device type
  optval = YDLIDAR_TYPE_SERIAL;
  laser.setlidaropt(LidarPropDeviceType, &optval, sizeof(int));
  /// sample rate
  optval = 4;
  laser.setlidaropt(LidarPropSampleRate, &optval, sizeof(int));
  /// abnormal count
  optval = 3;
  laser.setlidaropt(LidarPropAbnormalCheckCount, &optval, sizeof(int));
  /// Intenstiy bit count
  optval = 4;
  laser.setlidaropt(LidarPropIntenstiyBit, &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
  laser.setlidaropt(LidarPropSingleChannel, &isSingleChannel, sizeof(bool));
  /// intensity
  b_optvalue = true;
  laser.setlidaropt(LidarPropIntenstiy, &b_optvalue, sizeof(bool));
  /// Motor DTR
  b_optvalue = true;
  laser.setlidaropt(LidarPropSupportMotorDtrCtrl, &b_optvalue, sizeof(bool));
  /// HeartBeat
  b_optvalue = false;
  laser.setlidaropt(LidarPropSupportHeartBeat, &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 = 20.f;
  laser.setlidaropt(LidarPropMaxRange, &f_optvalue, sizeof(float));
  f_optvalue = 0.025f;
  laser.setlidaropt(LidarPropMinRange, &f_optvalue, sizeof(float));
  /// unit: Hz
  float frequency = 250.0;
  laser.setlidaropt(LidarPropScanFrequency, &frequency, sizeof(float));

  // 雷达初始化
  bool ret = laser.initialize();
  if (!ret)
  {
    fprintf(stderr, "[YDLIDAR] Fail to initialize %s\n", laser.DescribeError());
    return -1;
  }
  // 启动扫描
  ret = laser.turnOn();
  if (!ret)
  {
    fprintf(stderr, "[YDLIDAR] Fail to turn on %s\n", laser.DescribeError());
    return -1;
  }

  LaserScan scan;

  while (ret && ydlidar::os_isOk())
  {
    if (laser.doProcessSimple(scan))
    {
      for (size_t i = 0; i < scan.points.size(); ++i)
      {
        const LaserPoint &p = scan.points.at(i);
        printf("%lu R %.01f I %.01f\n", i, 
          p.range * 1000.0f, p.intensity);
      }
      fflush(stdout);
    }
    else
    {
      fprintf(stderr, "[YDLIDAR] Failed to get lidar data\n");
      fflush(stderr);
    }
  }

  laser.turnOff();
  laser.disconnecting();

  return 0;
}
