import numpy as np
import logging
from rblidar import RBLidar  # Assuming rblidar.py is in the same directory

class DataLogger:
    def __init__(self):
        self.data_frames = []  # List to store the frames of data
        logging.basicConfig(level=logging.INFO, format='%(asctime)s %(levelname)s: %(message)s')

    def frame_callback(self, point_data_array):
        # Append the received frame (NumPy array) to the list
        self.data_frames.append(point_data_array)
        logging.info(f"Logged frame with {len(point_data_array)} points.")

    def save_data(self, filename='logged_data.npy'):
        # Concatenate all frames into a single NumPy array and save it
        if self.data_frames:
            all_data = np.concatenate(self.data_frames)
            np.save(filename, all_data)
            logging.info(f"Data saved to {filename}.")
        else:
            logging.info("No data to save.")

if __name__ == "__main__":
    data_logger = DataLogger()
    lidar = RBLidar("192.168.8.1", 2368, frame_callback=data_logger.frame_callback)

    try:
        while True:
            pass  # Keep the program running to receive data
    except KeyboardInterrupt:
        logging.info("Stopping and saving data...")
        data_logger.save_data()  # Save data on exit