Initial commit

srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/ScanPoint.cs

@@ -0,0 +1,66 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Represents a single scan point from the SICK Safety Scanner
+/// </summary>
+public sealed class ScanPoint
+{
+    /// <summary>
+    /// Gets the angle in sensor coordinates (radians)
+    /// </summary>
+    public double Angle { get; init; }
+    
+    /// <summary>
+    /// Gets the distance of the measured scanpoint (mm)
+    /// </summary>
+    public ushort Distance { get; init; }
+    
+    /// <summary>
+    /// Gets the reflectivity value (0-255)
+    /// </summary>
+    public byte Reflectivity { get; init; }
+    
+    /// <summary>
+    /// Gets whether the scanpoint is valid
+    /// </summary>
+    public bool IsValid { get; init; }
+    
+    /// <summary>
+    /// Gets whether the scanpoint is infinite (no object detected)
+    /// </summary>
+    public bool IsInfinite { get; init; }
+    
+    /// <summary>
+    /// Gets whether there is glare in the scanpoint
+    /// </summary>
+    public bool HasGlare { get; init; }
+    
+    /// <summary>
+    /// Gets whether the scanpoint detects a reflector
+    /// </summary>
+    public bool IsReflector { get; init; }
+    
+    /// <summary>
+    /// Gets whether the scanpoint is contaminated
+    /// </summary>
+    public bool IsContaminated { get; init; }
+    
+    /// <summary>
+    /// Gets whether there is a contamination warning
+    /// </summary>
+    public bool HasContaminationWarning { get; init; }
+    
+    public ScanPoint(double angle, ushort distance, byte reflectivity, bool isValid, 
+        bool isInfinite, bool hasGlare, bool isReflector, bool isContaminated, bool hasContaminationWarning)
+    {
+        Angle = angle;
+        Distance = distance;
+        Reflectivity = reflectivity;
+        IsValid = isValid;
+        IsInfinite = isInfinite;
+        HasGlare = hasGlare;
+        IsReflector = isReflector;
+        IsContaminated = isContaminated;
+        HasContaminationWarning = hasContaminationWarning;
+    }
+}