#ifndef FREE_LIDAR_NODE_H_
#define FREE_LIDAR_NODE_H_

#include <free_lidar/lidar_driver.h>
#include <free_lidar/c2_eth_driver.h>
#include <free_lidar/c2_uart_driver.h>
#include <free_lidar/h1_eth_driver.h>
#include <free_lidar/trailing_filter.h>
#include <ros/ros.h>
#include <stdint.h>
#include <stdio.h>
#include <iostream>
#include <std_msgs/String.h>
#include <sensor_msgs/LaserScan.h>

namespace free_optics {

class LidarDriver;
class C2EthDriver;
class C2UartDriver;
class H1EthDriver;
class TrailingFilter;

class FreeLidarNode
{
public:
    FreeLidarNode();
    ~FreeLidarNode();

    bool isConnected() {return is_connected_;}

    bool getScanData();
    sensor_msgs::LaserScan scanmsg;
    void cmdMsgCallback(const std_msgs::StringConstPtr &msg);
    int scan_frequency_, scan_resolution_;
    bool singleFilter(std::vector<float> tempdisx , int pointnum);
    // 对射变量
    std::deque<float> Dist_pre;
    std::deque<float> Dist_out;
    std::deque<float> Dist_flag;
    std::deque<float> Dist_flag2;
    int angle_m = 0;
    int angle_n = 0;
    int Anglenum;
    int Speednum;
    float idiff1 = 0;
    float idiff2 = 0;
    float idiff3 = 0;
    float idiff4 = 0;
    float idiff = 0;
    int Runtimes = 1 ; 
private:
    bool connect();

    ros::NodeHandle nh_;
    ros::Publisher scan_publisher_;
    ros::Publisher info_publisher_;
    ros::Subscriber cmd_subscriber_;
    std::string frame_id_;

    std::string scanner_ip_, port_name_;
    std::string scanner_type_;
    uint32_t scanner_fw_, scanner_sn_;

    float range_max_, range_min_;
    int32_t start_angle_, stop_angle_;
    
    bool filter_switch_;
    bool is_ethernet_;

    LidarDriver *driver_;
    TrailingFilter *filter_;
    bool is_connected_;
};

}

#endif