LightParams.hpp

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// Copyright (c) 2026 EduArt Robotik GmbH

 
#pragma once
 
#include <cmath>
#include <cstdint>
#include <limits>
#include <stdexcept>
 
#include "sensorring/device/DeviceParams.hpp"
#include "sensorring/platform/SensorringExport.hpp"
 
namespace eduart {
 
namespace sensorring {
 
namespace device {

struct SENSORRING_EXPORT LightParams : public DeviceParams {
  double distance_map_lower_m = 0.1;

  double distance_map_upper_m = 0.5;

  std::int64_t max_brightness = 50;

  void validateDistanceMapBrightness() const {
    if (max_brightness < 0 || max_brightness > 255) {
      throw std::invalid_argument("LED max_brightness must be an integer in [0, 255].");
    }
  }

  void validateDistanceMapRange() const {
    if (!std::isfinite(distance_map_lower_m) || !std::isfinite(distance_map_upper_m) || distance_map_lower_m < 0.0 || distance_map_upper_m <= distance_map_lower_m || distance_map_upper_m > std::numeric_limits<float>::max()
        || static_cast<float>(distance_map_lower_m) >= static_cast<float>(distance_map_upper_m)) {
      throw std::invalid_argument("LED distance_map_lower_m and distance_map_upper_m must be finite meters with 0 <= lower < upper, distinct and representable as float32.");
    }
  }

  virtual ~LightParams() = default;
};
 
} // namespace device
 
} // namespace sensorring
 
} // namespace eduart