api_util.h

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 *Copyright (c) 2016-2023, Mech-Mind Robotics
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 *modification, are permitted provided that the following conditions are met:
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 *   list of conditions and the following disclaimer.
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#pragma once
#include <iostream>
#include <set>
#include <utility>
#include "ErrorStatus.h"
#include "CommonTypes.h"
#include "Profiler.h"
#include "ProfilerInfo.h"
 
inline void showError(const mmind::eye::ErrorStatus& status)
{
    if (status.isOK())
        return;
    std::cout << "Error Code : " << status.errorCode
              << ", Error Description: " << status.errorDescription << std::endl;
}
 
inline bool isNumber(const std::string& str)
{
    for (char it : str) {
        if (it < '0' || it > '9')
            return false;
    }
    return true;
}
 
inline void printProfilerInfo(const mmind::eye::ProfilerInfo& profilerInfo)
{
    std::cout << "........................................." << std::endl;
    std::cout << "Profiler Model Name:           " << profilerInfo.model << std::endl;
    std::cout << "Controller Serial Number:      " << profilerInfo.controllerSN << std::endl;
    std::cout << "Sensor Head Serial Number:     " << profilerInfo.sensorSN << std::endl;
    std::cout << "Profiler IP Address:           " << profilerInfo.ipAddress << std::endl;
    std::cout << "Profiler IP Subnet Mask:       " << profilerInfo.subnetMask << std::endl;
    std::cout << "Profiler IP Assignment Method: "
              << mmind::eye::ipAssignmentMethodToString(profilerInfo.ipAssignmentMethod)
              << std::endl;
    std::cout << "Hardware Version:              "
              << "V" << profilerInfo.hardwareVersion.toString() << std::endl;
    std::cout << "Firmware Version:              "
              << "V" << profilerInfo.firmwareVersion.toString() << std::endl;
    std::cout << "........................................." << std::endl;
    std::cout << std::endl;
}
 
inline bool findAndConnect(mmind::eye::Profiler& profiler)
{
    std::cout << "Find Mech-Eye 3D Laser Profilers..." << std::endl;
    std::vector<mmind::eye::ProfilerInfo> profilerInfoList =
        mmind::eye::Profiler::discoverProfilers();
 
    if (profilerInfoList.empty()) {
        std::cout << "No Mech-Eye 3D Laser Profiler found." << std::endl;
        return false;
    }
 
    for (int i = 0; i < profilerInfoList.size(); i++) {
        std::cout << "Mech-Eye 3D Laser profiler index : " << i << std::endl;
        printProfilerInfo(profilerInfoList[i]);
    }
 
    std::cout << "Please enter the profiler index you want to connect: ";
    unsigned inputIndex = 0;
 
    while (true) {
        std::string str;
        std::cin >> str;
        if (isNumber(str) && atoi(str.c_str()) < profilerInfoList.size()) {
            inputIndex = atoi(str.c_str());
            break;
        }
        std::cout << "Input invalid! Please enter the profiler index you want to connect: ";
    }
 
    mmind::eye::ErrorStatus status;
    status = profiler.connect(profilerInfoList[inputIndex]);
 
    if (!status.isOK()) {
        showError(status);
        return false;
    }
 
    std::cout << "Connect Mech-Eye 3D Laser Profiler Successfully." << std::endl;
    return true;
}
 
inline bool confirmCapture()
{
    std::cout << "Do you want the profiler to capture image ? Please input y/n to confirm: "
              << std::endl;
    while (true) {
        std::string confirmStr;
        std::cin >> confirmStr;
        if (confirmStr == "y") {
            return true;
        } else if (confirmStr == "n") {
            std::cout << "program ends!" << std::endl;
            return false;
        } else {
            std::cout << "Please input y/n again!" << std::endl;
        }
    }
}