import SwiftRPLidar
import SwiftSerial

do {
    try main()
}
catch {
    print("Unexpected Error \(error)")
}

func main() throws {
    let serialPort = SerialPort(path: "/dev/cu.usbserial-0001")
    let lidar = try SwiftRPLidar(onPort: serialPort)
    var index = 0
    try lidar.iterMeasurements { measurement in
        print("Quality: ",measurement.quality, ", Angle: ", measurement.angle, ", Distance: ", measurement.distance)
        index += 1
        return index <= 10
    }
    
    index = 0
    _ = try lidar.startScanning()
    for measurement in lidar {
        print("Quality: ",measurement.quality, ", Angle: ", measurement.angle, ", Distance: ", measurement.distance)
        index += 1
        if index > 10 {
            break
        }
    }
}

extension SerialPort: LidarSerial{
    public func setBaudrate(baudrate: Int) {
        switch baudrate{
        default:
            setSettings(receiveRate: .baud115200, transmitRate: .baud115200, minimumBytesToRead: 3, timeout: 1)
        }
        
    }
}