/*
 * demo_tracer_can.cpp
 *
 * Created on: Jun 12, 2019 05:03
 * Description:
 *
 * Copyright (c) 2019 Ruixiang Du (rdu)
 */

#include "ugv_sdk/protocol_v2/tracer_base.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_tracer_demo <interface>" << std::endl
              << "Example 1: ./app_tracer_demo can0" << std::endl;
    return -1;
  }

  TracerBase tracer;
  tracer.Connect(device_name);

  tracer.EnableCommandedMode();
  //   tracer.DisableTimeout();

  // light control
  std::cout << "Light: const off" << std::endl;
  tracer.SetLightCommand({CONST_OFF, 0});
  //   usleep(50000);
  sleep(3);
  std::cout << "Light: const on" << std::endl;
  tracer.SetLightCommand({CONST_ON, 0});
  //   usleep(50000);
  sleep(3);
  std::cout << "Light: breath" << std::endl;
  tracer.SetLightCommand({BREATH, 0});
  //   usleep(50000);
  sleep(8);
  std::cout << "Light: custom 90-80" << std::endl;
  tracer.SetLightCommand({CUSTOM, 90});
  //   usleep(50000);
  sleep(3);
  std::cout << "Light: diabled cmd control" << std::endl;
  tracer.SetLightCommand(TracerLightCmd());

  int count = 0;
  while (true) {
    // motion control
    if (count < 5) {
      std::cout << "Motor: 0.2, 0.0" << std::endl;
      tracer.SetMotionCommand(0.2, 0.0);
    } else if (count < 10) {
      std::cout << "Motor: 0.8, 0.3" << std::endl;
      tracer.SetMotionCommand(0.8, 0.3);
    } else if (count < 15) {
      std::cout << "Motor: 1.5, 0.5" << std::endl;
      tracer.SetMotionCommand(1.5, 0.5);
    } else if (count < 20) {
      std::cout << "Motor: 1.0, 0.3" << std::endl;
      tracer.SetMotionCommand(1.0, 0.3);
    } else if (count < 25) {
      std::cout << "Motor: 0.0, 0.0" << std::endl;
      tracer.SetMotionCommand(0.0, 0.0);
    } else if (count < 30) {
      std::cout << "Motor: -0.5, -0.3" << std::endl;
      tracer.SetMotionCommand(-0.5, -0.3);
    } else if (count < 35) {
      std::cout << "Motor: -1.0, -0.5" << std::endl;
      tracer.SetMotionCommand(-1.0, -0.5);
    } else if (count < 40) {
      std::cout << "Motor: 0.0, 0.0," << std::endl;
      tracer.SetMotionCommand(0.0, 0.0);
    }
    // tracer.SetMotionCommand(0.8, 0.8);

    auto state = tracer.GetTracerState();
    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);
    sleep(1);
    ++count;
  }

  return 0;
}