/*
 * scout_robot_demo.cpp
 *
 * Created on: Jul 08, 2021 11:12
 * Description:
 *
 * Copyright (c) 2021 Weston Robot Pte. Ltd.
 */

#include <iostream>

#include "ugv_sdk/mobile_base/scout_robot.hpp"

using namespace westonrobot;

int main(int argc, char **argv) {
  std::string device_name;

  if (argc == 2) {
    device_name = {argv[1]};
    std::cout << "Specified CAN: " << device_name << std::endl;
  } else {
    std::cout << "Usage: app_scout_demo <interface>" << std::endl
              << "Example 1: ./app_scout_demo can0" << std::endl;
    return -1;
  }

  ScoutRobot scout(ProtocolType::AGX_V2);
  //   scout.Connect(device_name);

  //   scout.EnableCommandedMode();

  //   //   // light control
  //   std::cout << "Light: const off" << std::endl;
  //   scout.SetLightCommand({CONST_OFF, 0, CONST_OFF, 0});
  //   sleep(3);
  //   std::cout << "Light: const on" << std::endl;
  //   scout.SetLightCommand({CONST_ON, 0, CONST_ON, 0});
  //   sleep(3);
  //   std::cout << "Light: breath" << std::endl;
  //   scout.SetLightCommand({BREATH, 0, BREATH, 0});
  //   sleep(3);
  //   std::cout << "Light: custom 90-80" << std::endl;
  //   scout.SetLightCommand({CUSTOM, 90, CUSTOM, 80});
  //   sleep(3);
  //   std::cout << "Light: diabled cmd control" << std::endl;
  //   scout.DisableLightControl();

  //   int count = 0;
  //   while (true) {
  //     // motion control
  //     if (count < 100) {
  //       std::cout << "Motor: 0.2, 0" << std::endl;
  //       scout.SetMotionCommand(0.2, 0.0);
  //     }

  //     // get robot state
  //     auto state = scout.GetScoutState();
  //     std::cout << "-------------------------------" << std::endl;
  //     std::cout << "count: " << count << std::endl;
  //     std::cout << "control mode: "
  //               << static_cast<int>(state.system_state.control_mode)
  //               << " , vehicle state: "
  //               << static_cast<int>(state.system_state.vehicle_state)
  //               << std::endl;
  //     std::cout << "battery voltage: " << state.system_state.battery_voltage
  //               << std::endl;
  //     std::cout << "velocity (linear, angular): "
  //               << state.motion_state.linear_velocity << ", "
  //               << state.motion_state.angular_velocity << std::endl;
  //     std::cout << "-------------------------------" << std::endl;

  //     usleep(20000);
  //     ++count;
  //   }

  return 0;
}