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;
    }
}