"""
LiDAR sensor interface.
"""

import numpy as np
from typing import Optional, Dict

class LiDARSensor:
    """LiDAR sensor interface."""
    
    def __init__(self, config: Dict = None):
        """
        Initialize LiDAR sensor.
        
        Args:
            config: Configuration dictionary
        """
        self.config = config or {}
        self._initialize()
    
    def _initialize(self):
        """Initialize the LiDAR sensor."""
        try:
            # For now, use mock LiDAR data
            # In a real implementation, this would initialize a physical LiDAR
            print("[LiDARSensor] Initialized LiDAR sensor (mock)")
            
        except Exception as e:
            print(f"[LiDARSensor] Error initializing LiDAR: {e}")
    
    def read(self) -> Optional[np.ndarray]:
        """
        Read a point cloud from the LiDAR.
        
        Returns:
            Point cloud as numpy array or None if failed
        """
        try:
            # Return mock LiDAR data for testing
            # In a real implementation, this would read from the LiDAR
            num_points = 1000
            points = np.random.randn(num_points, 3) * 10  # Random 3D points
            return points
            
        except Exception as e:
            print(f"[LiDARSensor] Error reading point cloud: {e}")
            return None
    
    def release(self):
        """Release the LiDAR resources."""
        try:
            print("[LiDARSensor] Released LiDAR sensor")
        except Exception as e:
            print(f"[LiDARSensor] Error releasing LiDAR: {e}")
    
    def __del__(self):
        """Cleanup on deletion."""
        self.release() 