Parameter.hpp

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// Copyright (c) 2025 EduArt Robotik GmbH

 
#pragma once
 
#include <chrono>
#include <string>
#include <vector>
 
#include "sensorring/math/Math.hpp"
#include "sensorring/platform/SensorringExport.hpp"
#include "sensorring/types/InterfaceType.hpp"
 
namespace eduart {
 
namespace sensor {

enum class SENSORRING_API Orientation {
  left,
  right,
  none
};

struct SENSORRING_API LightParams {
  bool enable = false;

  Orientation orientation = Orientation::none;
};

struct SENSORRING_API ThermalSensorParams {
  int user_idx = 0;

  bool enable = false;

  double t_min_deg_c = 0;

  double t_max_deg_c = 0;

  bool auto_min_max = false;

  bool use_eeprom_file = false;

  bool use_calibration_file = false;

  std::string eeprom_dir = "";

  std::string calibration_dir = "";

  Orientation orientation = Orientation::none;
};

struct SENSORRING_API TofSensorParams {
  int user_idx = 0;

  bool enable = false;
};

struct SENSORRING_API SensorBoardParams {
  math::Vector3 rotation = { 0, 0, 0 };

  math::Vector3 translation = { 0, 0, 0 };

  LightParams light_params;

  TofSensorParams tof_params;

  ThermalSensorParams thermal_params;
};
 
} // namespace sensor
 
namespace bus {

struct SENSORRING_API BusParams {
  std::string interface_name;

  com::InterfaceType type = com::InterfaceType::UNDEFINED;

  std::vector<sensor::SensorBoardParams> board_param_vec;
};
 
} // namespace bus
 
namespace ring {

struct SENSORRING_API RingParams {
  std::chrono::milliseconds timeout = std::chrono::milliseconds(1000);

  std::vector<bus::BusParams> bus_param_vec;
};
 
} // namespace ring
 
namespace manager {

struct SENSORRING_API ManagerParams {
  bool enable_brs = false;

  bool print_topology = true;

  bool repair_errors = true;

  bool enforce_topology = false;

  double frequency_tof_hz = 0.0;

  double frequency_thermal_hz = 1.0;

  ring::RingParams ring_params;
};
 
} // namespace manager
 
} // namespace eduart