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/**
 * \file
 * \brief Receive data from the sick lms laser sensor via ethernet
 */

#include <csignal>
#include <cstdio>
#include <lms1xx/lms1xx.h>
#include "ros/ros.h"
#include "sensor_msgs/LaserScan.h"

#define DEG2RAD M_PI/180.0

int main(int argc, char **argv)
{
  // laser data
  LMS1xx laser;
  scanCfg cfg;
  scanDataCfg dataCfg;
  scanData data;
  // published data
  sensor_msgs::LaserScan scan_msg;
  // parameters
  std::string host;
  std::string frame_id;

  ros::init(argc, argv, "lms1xx");
  ros::NodeHandle nh;
  ros::NodeHandle n("~");

  n.param<std::string>("host", host, "192.168.1.2");
  n.param<std::string>("frame_id", frame_id, "laser");

  ros::Publisher scan_pub = nh.advertise<sensor_msgs::LaserScan>("scan", 1);

  ROS_INFO("connecting to laser at : %s", host.c_str());
  // initialize hardware
  laser.connect(host);

  if (laser.isConnected())
  {
    ROS_INFO("Connected to laser.");

    laser.login();
    cfg = laser.getScanCfg();

    scan_msg.header.frame_id = frame_id;

    scan_msg.range_min = 0.01;
    scan_msg.range_max = 40.0;

    scan_msg.scan_time = 100.0/cfg.scaningFrequency;

    scan_msg.angle_increment = (double)cfg.angleResolution/10000.0 * DEG2RAD;
    scan_msg.angle_min = (double)cfg.startAngle/10000.0 * DEG2RAD - M_PI/2;
    scan_msg.angle_max = (double)cfg.stopAngle/10000.0 * DEG2RAD - M_PI/2;

    std::cout << "resolution : " << (double)cfg.angleResolution/10000.0 << " deg " << std::endl;
    std::cout << "frequency : " << (double)cfg.scaningFrequency/100.0 << " Hz " << std::endl;

    int num_values;
    if (cfg.angleResolution == 2500)
    {
      num_values = 1081;
    }
    else if (cfg.angleResolution == 5000)
    {
      num_values = 541;
    }
    else
    {
      ROS_ERROR("Unsupported resolution");
      return 0;
    }

    scan_msg.time_increment = scan_msg.scan_time/num_values;

    scan_msg.ranges.resize(num_values);
    scan_msg.intensities.resize(num_values);

    dataCfg.outputChannel = 1;
    dataCfg.remission = true;
    dataCfg.resolution = 1;
    dataCfg.encoder = 0;
    dataCfg.position = false;
    dataCfg.deviceName = false;
    dataCfg.outputInterval = 1;

    laser.setScanDataCfg(dataCfg);

    laser.startMeas();

    status_t stat;
    do // wait for ready status
    {
      stat = laser.queryStatus();
      ros::Duration(1.0).sleep();
    }
    while (stat != ready_for_measurement);

    laser.scanContinous(1);

    while (ros::ok())
    {
      ros::Time start = ros::Time::now();

      scan_msg.header.stamp = start;
      ++scan_msg.header.seq;

      laser.getData(data);

      for (int i = 0; i < data.dist_len1; i++)
      {
        scan_msg.ranges[i] = data.dist1[i] * 0.001;
      }

      for (int i = 0; i < data.rssi_len1; i++)
      {
        scan_msg.intensities[i] = data.rssi1[i];
      }

      scan_pub.publish(scan_msg);

      ros::spinOnce();
    }

    laser.scanContinous(0);
    laser.stopMeas();
    laser.disconnect();
  }
  else
  {
    ROS_ERROR("Connection to device failed");
  }
  return 0;
}