range.hpp

// Copyright (C) 2024 Avular Holding B.V. - All Rights Reserved
// You may use this code under the terms of the Avular
// Software End-User License Agreement.
//
// You should have received a copy of the Avular
// Software End-User License Agreement license with
// this file, or download it from: avular.com/eula
//
/*****************************************************************************
 * Created on: 2024 July 22
 * Author: Robbert-Jan de Jager
 *
 * Implementation of the range message.
 ****************************************************************************/
#pragma once
 
#include <array>
#include <creos/robot_clock.hpp>
#include <nlohmann/json.hpp>
 
#include "generic.hpp"
 
namespace creos_messages {
 
struct Range {
 
    enum Type {
        kUnknown = -1,
        kUltrasonic = 0,
        kInfrared,
    };
 
    creos::RobotClock::time_point timestamp;
 
    std::string frame_id;
 
    Type type = kUnknown;
 
    float range = 0;
 
    float field_of_view = 0;
 
    float min_range = 0;
 
    float max_range = INFINITY;
 
    auto operator<=>(const Range& other) const = default;
};
 
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(Range, timestamp, type, range, field_of_view, min_range, max_range)
 
 
enum class RangeSensorId {
    kDownwardsLidar = 0,  
};
 
}  // namespace creos_messages
 
DEFINE_ENUM_STRING_CONVERSIONS(creos_messages::RangeSensorId,
                               {{creos_messages::RangeSensorId::kDownwardsLidar, "downwards_lidar"}})