/home/travis/build/lis-epfl/MAVRIC_Library/simulation/sonar_sim.hpp

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/*******************************************************************************
 * \file sonar_sim.hpp
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief   Simulation for sonars
 *
 ******************************************************************************/


#ifndef SONAR_SIM_HPP_
#define SONAR_SIM_HPP_


#include "drivers/sonar.hpp"
#include "simulation/dynamic_model.hpp"


typedef struct
{
    float               min_distance;       
    float               max_distance;       
    std::array<float, 3>    orientation_bf; 
} sonar_sim_conf_t;


static inline sonar_sim_conf_t sonar_sim_default_config();


class Sonar_sim: public Sonar
{
public:
    Sonar_sim(Dynamic_model& dynamic_model, sonar_sim_conf_t config = sonar_sim_default_config());


    bool init(void);


    bool update(void);


    const float& last_update_us(void) const;


    const std::array<float, 3>& orientation_bf(void) const;


    const float& distance(void) const;


    const float& velocity(void) const;


    const bool& healthy(void) const;

private:
    Dynamic_model&      dynamic_model_; 

    sonar_sim_conf_t    config_;        
    float               distance_;      
    float               velocity_;      
    float               last_update_us_;
    bool                healthy_;       
};


static inline sonar_sim_conf_t sonar_sim_default_config()
{
    sonar_sim_conf_t conf = {};

    // Correct range between 20cm and 7m, - safety
    conf.min_distance = 0.20f;
    conf.max_distance = 5.0f;

    // Default orientation is looking downwards (NED)
    conf.orientation_bf = std::array<float, 3> {{0.0f, 0.0f, 1.0f}};

    return conf;
}


#endif /* SONAR_SIM_HPP_ */