bb

# SPDX-FileCopyrightText: 2025 James Harton
#
# SPDX-License-Identifier: Apache-2.0

defmodule BB.Message.Sensor.LaserScan do
  @moduledoc """
  Single scan from a planar laser range-finder.

  ## Fields

  - `angle_min` - Start angle of scan in radians
  - `angle_max` - End angle of scan in radians
  - `angle_increment` - Angular distance between measurements in radians
  - `time_increment` - Time between measurements in seconds
  - `scan_time` - Time between scans in seconds
  - `range_min` - Minimum range value in metres
  - `range_max` - Maximum range value in metres
  - `ranges` - Range data in metres (values < range_min or > range_max are invalid)
  - `intensities` - Intensity data (device-specific units, optional)

  ## Examples

      alias BB.Message.Sensor.LaserScan

      {:ok, msg} = LaserScan.new(:laser_frame,
        angle_min: -1.57,
        angle_max: 1.57,
        angle_increment: 0.01,
        time_increment: 0.0001,
        scan_time: 0.1,
        range_min: 0.1,
        range_max: 10.0,
        ranges: [1.0, 1.1, 1.2, 1.3]
      )
  """

  defstruct [
    :angle_min,
    :angle_max,
    :angle_increment,
    :time_increment,
    :scan_time,
    :range_min,
    :range_max,
    :ranges,
    :intensities
  ]

  use BB.Message,
    schema: [
      angle_min: [type: :float, required: true, doc: "Start angle in radians"],
      angle_max: [type: :float, required: true, doc: "End angle in radians"],
      angle_increment: [
        type: :float,
        required: true,
        doc: "Angular distance between measurements in radians"
      ],
      time_increment: [
        type: :float,
        required: true,
        doc: "Time between measurements in seconds"
      ],
      scan_time: [type: :float, required: true, doc: "Time between scans in seconds"],
      range_min: [type: :float, required: true, doc: "Minimum range in metres"],
      range_max: [type: :float, required: true, doc: "Maximum range in metres"],
      ranges: [type: {:list, :float}, required: true, doc: "Range data in metres"],
      intensities: [type: {:list, :float}, default: [], doc: "Intensity data (optional)"]
    ]

  @type t :: %__MODULE__{
          angle_min: float(),
          angle_max: float(),
          angle_increment: float(),
          time_increment: float(),
          scan_time: float(),
          range_min: float(),
          range_max: float(),
          ranges: [float()],
          intensities: [float()]
        }
end