// Copyright © 2021-present, Michael Cummings
//
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// MIT License
//
// Copyright © 2021-present, Michael Cummings <mgcummings@yahoo.com>.
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//! Example of sensors data use in Rr4c postback format with active sonar.
//!
//! Instead of the default on demand single ping per call ultrasonic method the
//! active sonar is being used.
extern crate rust_rpi_4wd_car;

use anyhow::{Context, Result};
use rppal::system::DeviceInfo;
use rust_rpi_4wd_car::Sensors;
use std::{
    sync::atomic::{AtomicBool, Ordering},
    sync::Arc,
    thread::sleep,
    time::Duration,
};

fn main() -> Result<()> {
    println!(
        "Beginning sensors tests with active sonar on {}",
        DeviceInfo::new()
            .context("Failed to get new DeviceInfo")?
            .model()
    );
    sleep(Duration::from_secs(2));
    let mut sensors = Sensors::new().context("Failed to get instance")?;
    sensors.sonar_active(true);
    // Give it a little time to queue up sonar data.
    sleep(Duration::from_secs_f64(0.05));
    // Stuff needed to nicely handle Ctrl-C from user.
    let running = Arc::new(AtomicBool::new(true));
    let r = running.clone();
    ctrlc::set_handler(move || {
        r.store(false, Ordering::SeqCst);
    })
    .context("Error setting Ctrl-C handler")?;
    println!("Ctrl-C (Cmd + . for Mac OS) to stop");
    // Short pauses between sonar readings are no problem when using active sonar.
    let dur = Duration::from_secs_f64(0.034);
    // Loop until Ctrl-C is received.
    while running.load(Ordering::SeqCst) {
        test(&mut sensors);
        sleep(dur);
    }
    println!();
    println!("Finished sensors tests with active sonar");
    Ok(())
}

fn test(sensors: &mut Sensors) {
    println!("{}", sensors.as_rr_postback());
}