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

#include "hunter_base/hunter_base.hpp"

using namespace wescore;

int main(int argc, char **argv)
{
    std::string device_name;
    int32_t baud_rate = 0;

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

    HunterBase hunter;
    hunter.Connect(device_name);

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

        auto state = hunter.GetHunterState();
        std::cout << "-------------------------------" << std::endl;
        std::cout << "count: " << count << std::endl;
        std::cout << "control mode: " << static_cast<int>(state.control_mode) << " , base state: " << static_cast<int>(state.base_state) << std::endl;
        std::cout << "battery voltage: " << state.battery_voltage << std::endl;
        std::cout << "velocity (linear, angular): " << state.linear_velocity << ", " << state.steering_angle << std::endl;
        std::cout << "-------------------------------" << std::endl;

        sleep(1);
        ++count;
    }

    return 0;
}