//
// Filtering example for the Crandun Technologies CTI-AR200
// software library.
// Copyright (c) 2001, Crandun Technologies Inc.
//
// This example demonstrates how to use the library's filtering
// functions to exclude samples that are not of interest.
// In this particular example, filtering is done based on the sample's
// range (distance).  However, samples may also be filtered based
// on numerous other criteria. (Please see the Programmers Guide.)
//

#include "CTI_AR200.h"	// required header
#include <iostream>		// needed for cout
#include <windows.h>	// needed for Sleep function

using namespace std;		// we use cout and cerr
using namespace Crandun;	// all library symbols are in this namespace

// A helper macro for checking return codes
#define CHK_RETURN_VALUE(retCode, fnName) \
if (retCode < 0) { \
		cerr << "ERROR: " #fnName " returned error code: " << rc << endl; \
		{	char errMsg[300]; if (my_Sensor.getIsError()) { \
				my_Sensor.getErrorMessage(errMsg, sizeof(errMsg)); \
				cerr << "Library error msg is: " << errMsg << endl; \
			} \
		}\
		my_Sensor.setCommClosed(); \
		cerr << "Please enter any character to exit: "; \
		cin >> c; \
		return (-1); \
} 



int main()
{
	char c;
	long rc;
	const int MAXSAMPLES = 100;
	float maxRange, minRange, fullScaleSpan, rangeData[MAXSAMPLES];

	CTI_AR200 my_Sensor;

	cout << "Crandun Technologies CTI-AR200 Library data filtering example." << endl << endl;

	cout << "Enter the Full Scale Span of the AR200 sensor you are using (e.g. 25): ";
	cin >> fullScaleSpan;

	rc = my_Sensor.setCommOpen("COM1", 9600, fullScaleSpan);
	if (rc != CTI_SUCCESS) {
		cerr << "ERROR: setCommParams returned error: " << rc << endl;
		return -1;
	}
	cout << "Successfully opened the serial port!" << endl;

	maxRange = 0.75 * fullScaleSpan;
	cout << "Setting maximum valid range to " << maxRange << " mm." << endl;
	rc = my_Sensor.setMaxValidRange(maxRange);
	CHK_RETURN_VALUE(rc, setMaxValidRange);

	minRange = 0.25 * fullScaleSpan;
	cout << "Setting minimum valid range to " << minRange << " mm." << endl;
	rc = my_Sensor.setMinValidRange(minRange);
	CHK_RETURN_VALUE(rc, setMinValidRange);

	cout << "Telling library to discard invalid samples." << endl << endl;
	rc = my_Sensor.setDiscardInvalidOn();	// always returns CTI_SUCCESS, so don't need to check return code

	cout << "Approximately 10 seconds of data will now be captured." << endl;
	cout << "Please move the sensor slowly, so that it reflects off a wide range of" << endl;
	cout << "targets, from less than " << minRange << " mm to more than " << maxRange << "	mm in distance." << endl;
	cout << endl;
	cout << "Please enter any character to continue: ";
	cin >> c;

	rc = my_Sensor.setClearBuffer();	// purge anything currently in buffer (always returns success)
	cout << "Sleeping for 10 seconds - please slowly move the sensor." << endl;
	Sleep(10000);

	// Sensor sample rate is factory default of 5 samples/second, so the
	// number of possible samples is about 50.  
	// However, some should be filtered by the library, so we should 
	// get somewhat less than 50 returned.

	rc = my_Sensor.getSamples(rangeData, MAXSAMPLES, 1, 1000);
	CHK_RETURN_VALUE(rc, getSamples);
	cout << "Read " << rc << " range samples from the sensor." << endl;

	for (int i = 0; i < rc; i++)
		cout << "Range " << i << " is " << rangeData[i] << endl;

	cout << my_Sensor.getNumBytesSkipped() << " bytes of data were skipped." << endl;

	my_Sensor.setCommClosed();

	cout << "Please enter any character to exit: ";
	cin >> c;

	return 0;
}