/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2026, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

/*
   This example was contributed by Adrien Barral - Robopec (France)
*/

#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/hwdrivers/CLMS100eth.h>
#include <mrpt/opengl/CPlanarLaserScan.h>  // [mrpt-maps]

#include <chrono>
#include <iostream>
#include <thread>

using namespace mrpt;
using namespace mrpt::obs;
using namespace mrpt::opengl;
using namespace mrpt::hwdrivers;
using namespace mrpt::gui;
using namespace std;

int main(int argc, char* argv[])
{
  if (argc < 3)
  {
    cout << "Usage : " << argv[0] << " <IP> <port> " << endl;
    return 0;
  }

  CLMS100Eth laser(string(argv[1]), atoi(argv[2]));
  laser.turnOn();

  bool isOutObs, hardwareError;
  CObservation2DRangeScan outObs;
  laser.doProcessSimple(isOutObs, outObs, hardwareError);

  CDisplayWindow3D win3D("Scan", 200, 200);

  Scene::Ptr ptr_scene = win3D.get3DSceneAndLock();

  {
    opengl::CPlanarLaserScan::Ptr obj = opengl::CPlanarLaserScan::Create();
    obj->clear();
    obj->setColor(0, 0, 1);
    obj->setName("scan_LMS100");
    obj->setScan(outObs);
    ptr_scene->insert(obj);
  }

  win3D.unlockAccess3DScene();
  win3D.forceRepaint();

  while (win3D.isOpen())
  {
    laser.doProcessSimple(isOutObs, outObs, hardwareError);

    ptr_scene = win3D.get3DSceneAndLock();
    opengl::CPlanarLaserScan::Ptr obj =
        std::dynamic_pointer_cast<opengl::CPlanarLaserScan>(ptr_scene->getByName("scan_LMS100"));
    obj->clear();
    obj->setScan(outObs);
    win3D.unlockAccess3DScene();
    win3D.forceRepaint();
    std::this_thread::sleep_for(20ms);
  }
  win3D.waitForKey();
  return 0;
}
