//
// Created by zx on 2021/12/15.
//

#ifndef SHUTTER_VERIFY_LASER_LIVOXMID70_H_
#define SHUTTER_VERIFY_LASER_LIVOXMID70_H_

#include "lds_lidar.h"
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/io/pcd_io.h>
#include <pcl/common/transforms.h>
#include <mutex>
namespace livox
{
#define MAX_FRAME 1024
class TimedLivoxExtendRawPoint
{
 public:
    std::mutex  m_mutex;
    LivoxExtendRawPoint*     m_frame;
    int m_point_num;
    std::chrono::steady_clock::time_point   m_time_point;
    float m_timeout;

    TimedLivoxExtendRawPoint();

    void Reset(LivoxExtendRawPoint* data ,int count,float timeout_time=0.5);
    void operator=(const TimedLivoxExtendRawPoint& frame);
    ~TimedLivoxExtendRawPoint();

    bool is_timeout();

};

class LivoxMid70 : public LdsLidar
{
 public:
    LivoxMid70();
    virtual ~LivoxMid70();

    void SetFPS(float fps)
    {
        m_fps=fps;
    }
    pcl::PointCloud<pcl::PointXYZ>::Ptr GetCloud();
    void SetTransformParam(Eigen::Vector3f rpy,Eigen::Vector3f transpose);
    bool is_connected();
 private:
    virtual void LidarDataCallback(uint8_t handle, LivoxEthPacket *data,uint32_t data_num);


 protected:
    std::chrono::steady_clock::time_point       m_last_data_tp;
    std::mutex                      m_mutex;
    TimedLivoxExtendRawPoint        m_frames[MAX_FRAME];
    int                             m_idx;

    float                   m_fps;
    Eigen::Affine3f         m_transform;
};
}


#endif //SHUTTER_VERIFY_LASER_LIVOXMID70_H_