use std::{thread::sleep, time::Duration};

mod stage;

fn main() {
    env_logger::init();
    let mut s = stage::Stage::new("/dev/ttyACM0", 1.12).unwrap();
    let origin = nalgebra::vector![3000.0, 0.0, -6000.0];
    //println!("{}", s.version().unwrap());

    //let a = nalgebra::vector![-10000.0, 0.0, -1250.0];
    //let b = nalgebra::vector![18000.0, -15000.0, -1600.0];
    //let c = nalgebra::vector![0.0, -15000.0, -250.0];

    s.move_absolute_cartesian(origin).unwrap();
    sleep(Duration::from_secs(5));
    //s.move_absolute_cartesian(origin + a).unwrap();
    ////sleep(Duration::from_secs(5));
    ////s.move_absolute_cartesian(origin).unwrap();
    ////s.move_absolute_cartesian(origin + c).unwrap();
    ////sleep(Duration::from_secs(5));
    ////s.move_absolute_cartesian(origin + nalgebra::vector![0.0, -16000.0, -500.0]).unwrap();
    ////println!("D");
    ////sleep(Duration::from_secs(5));
    ////s.move_absolute_cartesian(origin + nalgebra::vector![0.0, 0.0, 0.0]).unwrap();
    //println!("{:?}", s.get_position_cartesian());

    //Ok(())
}

struct App {
}

impl Default for App {
    fn default() -> Self {
        App {}
    }
}

impl eframe::App for App {
    fn update(&mut self, ctx: &egui::Context, _frame: &mut eframe::Frame) {
        egui::CentralPanel::default().show(ctx, |ui| {
            ui.heading("My egui Application");
        });
    }
}

//
//    let mut s = stage::Stage::new("/dev/ttyACM0", 1.12).unwrap();
//    let origin = nalgebra::vector![3000.0, 0.0, -6000.0];
//    println!("{}", s.version().unwrap());
//
//    let a = nalgebra::vector![18000.0, 0.0, -1250.0];
//    let b = nalgebra::vector![18000.0, -15000.0, -1600.0];
//    let c = nalgebra::vector![0.0, -15000.0, -250.0];
//
//    s.move_absolute_cartesian(origin).unwrap();
//    //sleep(Duration::from_secs(5));
//    //s.move_absolute_cartesian(origin + a).unwrap();
//    //sleep(Duration::from_secs(5));
//    //s.move_absolute_cartesian(origin + c).unwrap();
//    //sleep(Duration::from_secs(5));
//    //s.move_absolute_cartesian(origin + nalgebra::vector![0.0, -16000.0, -500.0]).unwrap();
//    //println!("D");
//    //sleep(Duration::from_secs(5));
//    //s.move_absolute_cartesian(origin + nalgebra::vector![0.0, 0.0, 0.0]).unwrap();
//    println!("{:?}", s.get_position_cartesian());
//}