Program.cs

using RaspberryRobot.Navigation;
using RaspberryRobot.Robot;

// ══════════════════════════════════════════════════════════════════════════════
//  Robô com LIDAR Xiaomi LDS01RR – Raspberry Pi (.NET 8)
// ══════════════════════════════════════════════════════════════════════════════

const string DefaultLidarPort = "/dev/ttyUSB0";

// Analisar argumentos da linha de comando
string lidarPort = args.Length > 0 ? args[0] : DefaultLidarPort;
bool showMap     = args.Contains("--map");

Console.OutputEncoding = System.Text.Encoding.UTF8;
Console.CursorVisible  = false;

PrintBanner(lidarPort);

// ── Inicialização ─────────────────────────────────────────────────────────
using var robot = new RobotController(lidarPort);
using var cts   = new CancellationTokenSource();

// Assinatura para exibição de status
robot.CommandChanged += (_, cmd) =>
{
    Console.ForegroundColor = CommandColor(cmd);
    Console.WriteLine($"[{DateTime.Now:HH:mm:ss.fff}] Comando: {CommandLabel(cmd),-20} RPM LIDAR: {robot.LidarRpm:F1}");
    Console.ResetColor();
};

// Ctrl+C para encerramento limpo
Console.CancelKeyPress += (_, e) =>
{
    e.Cancel = true;
    Console.WriteLine("\n[Sistema] Ctrl+C detectado – encerrando...");
    cts.Cancel();
};

// ── Laço de exibição do mapa ASCII (opcional) ─────────────────────────────
Task? mapTask = null;
if (showMap)
{
    mapTask = Task.Run(async () =>
    {
        while (!cts.Token.IsCancellationRequested)
        {
            var scan = robot.LastScan;
            if (scan is not null)
            {
                string map = ObstacleAvoidance.BuildAsciiMap(scan);
                Console.SetCursorPosition(0, 12); // posição abaixo do log
                Console.WriteLine(map);
            }
            await Task.Delay(200, cts.Token).ConfigureAwait(false);
        }
    }, cts.Token).ContinueWith(_ => { }, TaskContinuationOptions.OnlyOnCanceled);
}

// ── Execução principal ────────────────────────────────────────────────────
try
{
    robot.Start();
    await Task.Delay(Timeout.Infinite, cts.Token).ConfigureAwait(false);
}
catch (OperationCanceledException)
{
    // encerramento normal
}
catch (Exception ex)
{
    Console.ForegroundColor = ConsoleColor.Red;
    Console.Error.WriteLine($"\n[ERRO FATAL] {ex.Message}");
    Console.ResetColor();
    Environment.Exit(1);
}
finally
{
    Console.CursorVisible = true;
    Console.WriteLine("[Sistema] Robô desligado com sucesso.");
}

// ══════════════════════════════════════════════════════════════════════════════
//  Funções auxiliares locais
// ══════════════════════════════════════════════════════════════════════════════

static void PrintBanner(string port)
{
    Console.ForegroundColor = ConsoleColor.Cyan;
    Console.WriteLine("╔══════════════════════════════════════════════╗");
    Console.WriteLine("║   Robô Raspberry Pi + LIDAR LDS01RR          ║");
    Console.WriteLine("║   Sistema de desvio de obstáculos autônomo   ║");
    Console.WriteLine("╚══════════════════════════════════════════════╝");
    Console.ResetColor();
    Console.WriteLine($"  Porta LIDAR : {port}");
    Console.WriteLine($"  Data/Hora   : {DateTime.Now:dd/MM/yyyy HH:mm:ss}");
    Console.WriteLine("  Pressione Ctrl+C para encerrar.");
    Console.WriteLine(new string('─', 50));
}

static ConsoleColor CommandColor(NavigationCommand cmd) => cmd switch
{
    NavigationCommand.Forward    => ConsoleColor.Green,
    NavigationCommand.Backward   => ConsoleColor.Yellow,
    NavigationCommand.TurnLeft   => ConsoleColor.Cyan,
    NavigationCommand.TurnRight  => ConsoleColor.Cyan,
    NavigationCommand.CurveLeft  => ConsoleColor.DarkCyan,
    NavigationCommand.CurveRight => ConsoleColor.DarkCyan,
    NavigationCommand.Stop       => ConsoleColor.Red,
    _                            => ConsoleColor.White,
};

static string CommandLabel(NavigationCommand cmd) => cmd switch
{
    NavigationCommand.Forward    => "↑ Avançar",
    NavigationCommand.Backward   => "↓ Recuar",
    NavigationCommand.TurnLeft   => "↺ Girar Esquerda",
    NavigationCommand.TurnRight  => "↻ Girar Direita",
    NavigationCommand.CurveLeft  => "↖ Curva Esquerda",
    NavigationCommand.CurveRight => "↗ Curva Direita",
    NavigationCommand.Stop       => "■ Parado",
    _                            => cmd.ToString(),
};