namespace RobotNet10.Shared.Sensor;

/// <summary>
/// Range message (sensor_msgs/Range)
/// Single range reading from an active ranger that emits energy and reports
/// one range reading that is valid along an arc at the distance measured.
/// </summary>
public struct Range
{
    /// <summary>
    /// Header with timestamp and frame ID
    /// </summary>
    public Header Header { get; set; }

    /// <summary>
    /// Radiation type constants
    /// </summary>
    public const byte RadiationTypeUltrasound = 0;
    public const byte RadiationTypeInfrared = 1;

    /// <summary>
    /// The type of radiation used by the sensor (RadiationType constants)
    /// </summary>
    public byte RadiationType { get; set; }

    /// <summary>
    /// The size of the arc that the distance reading is valid for (rad)
    /// </summary>
    public double FieldOfView { get; set; }

    /// <summary>
    /// Minimum range value (m)
    /// </summary>
    public double MinRange { get; set; }

    /// <summary>
    /// Maximum range value (m)
    /// </summary>
    public double MaxRange { get; set; }

    /// <summary>
    /// Range data (m)
    /// (Note: values < range_min or > range_max should be discarded)
    /// </summary>
    public double RangeValue { get; set; }

    /// <summary>
    /// Default constructor
    /// </summary>
    public Range()
    {
        Header = new Header();
        RadiationType = RadiationTypeUltrasound;
        FieldOfView = 0.0;
        MinRange = 0.0;
        MaxRange = 0.0;
        RangeValue = 0.0;
    }
}