#include <stdint.h>

#define LIDARPORT "/dev/serial0"

#define LDLIDAR
#define LIDARRATE 230400
#define WAITMOTOR 5
#define NBMEASURESPACK 12
#define DISTANCEMIN 50
#define CONFIDENCEMIN 10

//#define RPLIDAR
//#define LIDARRATE 115200
//#define NBINITS 3
//#define NBMEASURESCABIN 32
//#define FULLTURNQ6 (360 << 6)
//#define DISTANCEMIN 100

const uint8_t LDCRC[] = {
 0x00, 0x4d, 0x9a, 0xd7, 0x79, 0x34, 0xe3, 0xae,
 0xf2, 0xbf, 0x68, 0x25, 0x8b, 0xc6, 0x11, 0x5c,
 0xa9, 0xe4, 0x33, 0x7e, 0xd0, 0x9d, 0x4a, 0x07,
 0x5b, 0x16, 0xc1, 0x8c, 0x22, 0x6f, 0xb8, 0xf5,
 0x1f, 0x52, 0x85, 0xc8, 0x66, 0x2b, 0xfc, 0xb1,
 0xed, 0xa0, 0x77, 0x3a, 0x94, 0xd9, 0x0e, 0x43,
 0xb6, 0xfb, 0x2c, 0x61, 0xcf, 0x82, 0x55, 0x18,
 0x44, 0x09, 0xde, 0x93, 0x3d, 0x70, 0xa7, 0xea,
 0x3e, 0x73, 0xa4, 0xe9, 0x47, 0x0a, 0xdd, 0x90,
 0xcc, 0x81, 0x56, 0x1b, 0xb5, 0xf8, 0x2f, 0x62,
 0x97, 0xda, 0x0d, 0x40, 0xee, 0xa3, 0x74, 0x39,
 0x65, 0x28, 0xff, 0xb2, 0x1c, 0x51, 0x86, 0xcb,
 0x21, 0x6c, 0xbb, 0xf6, 0x58, 0x15, 0xc2, 0x8f,
 0xd3, 0x9e, 0x49, 0x04, 0xaa, 0xe7, 0x30, 0x7d,
 0x88, 0xc5, 0x12, 0x5f, 0xf1, 0xbc, 0x6b, 0x26,
 0x7a, 0x37, 0xe0, 0xad, 0x03, 0x4e, 0x99, 0xd4,
 0x7c, 0x31, 0xe6, 0xab, 0x05, 0x48, 0x9f, 0xd2,
 0x8e, 0xc3, 0x14, 0x59, 0xf7, 0xba, 0x6d, 0x20,
 0xd5, 0x98, 0x4f, 0x02, 0xac, 0xe1, 0x36, 0x7b,
 0x27, 0x6a, 0xbd, 0xf0, 0x5e, 0x13, 0xc4, 0x89,
 0x63, 0x2e, 0xf9, 0xb4, 0x1a, 0x57, 0x80, 0xcd,
 0x91, 0xdc, 0x0b, 0x46, 0xe8, 0xa5, 0x72, 0x3f,
 0xca, 0x87, 0x50, 0x1d, 0xb3, 0xfe, 0x29, 0x64,
 0x38, 0x75, 0xa2, 0xef, 0x41, 0x0c, 0xdb, 0x96,
 0x42, 0x0f, 0xd8, 0x95, 0x3b, 0x76, 0xa1, 0xec,
 0xb0, 0xfd, 0x2a, 0x67, 0xc9, 0x84, 0x53, 0x1e,
 0xeb, 0xa6, 0x71, 0x3c, 0x92, 0xdf, 0x08, 0x45,
 0x19, 0x54, 0x83, 0xce, 0x60, 0x2d, 0xfa, 0xb7,
 0x5d, 0x10, 0xc7, 0x8a, 0x24, 0x69, 0xbe, 0xf3,
 0xaf, 0xe2, 0x35, 0x78, 0xd6, 0x9b, 0x4c, 0x01,
 0xf4, 0xb9, 0x6e, 0x23, 0x8d, 0xc0, 0x17, 0x5a,
 0x06, 0x4b, 0x9c, 0xd1, 0x7f, 0x32, 0xe5, 0xa8
};

typedef struct PolarPoint {
 int distance;
 uint16_t theta;
} PolarPoint;

void startLidar(int ld);
void stopLidar(int ld);
bool readLidar(int ld, std::vector<PolarPoint> &pointsOut);