@echo off

@REM change to the filepath
cd %~dp0
cd ..

set aerialpython=%cd%/.env/python.exe
set envsetting=%cd%/env/SettingEnv.bat

@REM Setting the env
if not exist %aerialpython% (
    call %envsetting% 
)
cd %~dp0
cd ..

echo change to path: %cd%

@REM pre-defined parameters
set servo_path=./RUN/Test_Servo.exe
set port=COM14
set speed=200
set degree_step=2
set time_delay=5
set alpha=0
set beta=20
set gamma=auto
set microwaveHost=192.168.2.65
set udp_packets=500
set deviceName=testDevice
set saveFolder=./data/run_test/

@REM re-defined parameters
set /P servo_path=Please input the path of servo controller (example: ./RUN/Test_Servo.exe):
set /p port=Please input the serial port of servo (example: COM14):
set /P speed=Please input the speed of servo (example: 200):
set /P degree_step=Please input the degree step of servo (example: 2):
set /P time_delay=Please input the delay time of servo (example: 5):
set /P alpha=Please input the alpha degree of microwave device (example: 0/-20/auto):
set /P beta=Please input the beta degree of microwave device (example: 0/-20/auto):
set /P gamma=Please input the gamma degree of microwave device (example: 0/-20/auto):
set /p udp_packets=Please input the udp packets num (example: 1000):
set /p saveFolder=Please input the folder to save the data (example: ./data/run_test/):

set PLYfile=%saveFolder%/data.ply

@REM verify the parameters
echo    ################# parameters #################
echo    servo_path              :%servo_path%
echo    port                    :%port%
echo    speed                   :%speed%
echo    degree_step             :%degree_step%
echo    time_delay              :%time_delay%
echo    alpha                   :%alpha%
echo    beta                    :%beta%
echo    gamma                   :%gamma%
echo    microwaveHost           :%microwaveHost%
echo    udp_packets             :%udp_packets%
echo    deviceName              :%deviceName%
echo    saveFolder              :%saveFolder%
echo    PLYfile                 :%PLYfile%

set /p choice=Please verify the parameters and choice [y/n]:


if %choice% == y (
    %aerialpython% ./scripts/slamAutoMode.py %servo_path% %port% %speed% %degree_step% %time_delay% %alpha% %beta% %gamma% %microwaveHost% %udp_packets% %deviceName% %saveFolder%
    @REM -------------- Usage: plot_ply.py [PLYfile]"
    %aerialpython% ./scripts/plot_ply.py %PLYfile%
) else (
    echo you choose stop!
    exit
)
pause