#include "line_laser_modbus/host.hpp"

#include <iomanip>
#include <iostream>

namespace {

void print_frame(const line_laser_modbus::ByteVector& frame) {
  for (const std::uint8_t byte : frame) {
    std::cout << std::hex << std::uppercase << std::setw(2) << std::setfill('0')
              << static_cast<int>(byte) << ' ';
  }
  std::cout << std::dec << '\n';
}

}  // 匿名命名空间

int main() {
  // 上位机示例：这里只构造协议帧。实际部署时，应通过串口/RS-485 驱动发送
  // 返回的字节，并把收到的响应交给 HostClient 的解析方法。
  const line_laser_modbus::HostClient host;

  const auto status_request = host.make_read_status_request();
  std::cout << "Read mode/state request: ";
  print_frame(status_request);

  const line_laser_modbus::Pose6D correction{
      1000U, 1.0F, 2.0F, 3.0F, 0.0F, 1.0F, 2.0F};
  const auto correction_request = host.make_write_correction_request(correction);
  std::cout << "Write correction request: ";
  print_frame(correction_request);

  return 0;
}